Manipulator as a Tail: Promoting Dynamic Stability for Legged Locomotion
Huang Huang,Antonio Loquercio,Ashish Kumar,Neerja Thakkar,Ken Goldberg,Jitendra Malik,Huang Huang,Antonio Loquercio,Ashish Kumar,Neerja Thakkar,Ken Goldberg,Jitendra Malik
For locomotion, is an arm on a legged robot a liability or an asset for locomotion? Biological systems evolved additional limbs beyond legs that facilitates postural control. This work shows how a manipulator can be an asset for legged locomotion at high speeds or under external perturbations, where the arm serves beyond manipulation. Since the system has 15 degrees of freedom (twelve for the legg...
