Legs as Manipulator: Pushing Quadrupedal Agility Beyond Locomotion
Xuxin Cheng,Ashish Kumar,Deepak Pathak,Xuxin Cheng,Ashish Kumar,Deepak Pathak
Locomotion has seen dramatic progress for walking or running across challenging terrains. However, robotic quadrupeds are still far behind their biological counterparts, such as dogs, which display a variety of agile skills and can use the legs beyond locomotion to perform several basic manipulation tasks like interacting with objects and climbing. In this paper, we take a step towards bridging th...
