Optimisation of Body-ground Contact for Augmenting the Whole-Body Loco-manipulation of Quadruped Robots
Wouter J. Wolfslag,Christopher McGreavy,Guiyang Xin,Carlo Tiseo,Sethu Vijayakumar,Zhibin Li,Wouter J. Wolfslag,Christopher McGreavy,Guiyang Xin,Carlo Tiseo,Sethu Vijayakumar,Zhibin Li
Legged robots have great potential to perform complex loco-manipulation tasks, yet it is challenging to keep the robot balanced while it interacts with the environment. In this paper we investigated the use of additional contact points for maximising the robustness of loco-manipulation motions. Specifically, body-ground contact was studied for its ability to enhance robustness and manipulation cap...
