Tallennettuna:
| Päätekijät: | , , , |
|---|---|
| Aineistotyyppi: | Preprint |
| Julkaistu: |
2025
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| Aiheet: | |
| Linkit: | https://arxiv.org/abs/2511.01774 |
| Tagit: |
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Sisällysluettelo:
- This paper presents the MOBIUS platform, a bipedal robot capable of walking, crawling, climbing, and rolling. MOBIUS features four limbs, two 6-DoF arms with two-finger grippers for manipulation and climbing, and two 4-DoF legs for locomotion--enabling smooth transitions across diverse terrains without reconfiguration. A hybrid control architecture combines reinforcement learning for locomotion and force control for compliant contact interactions during manipulation. A high-level MIQCP planner autonomously selects locomotion modes to balance stability and energy efficiency. Hardware experiments demonstrate robust gait transitions, dynamic climbing, and full-body load support via pinch grasp. Overall, MOBIUS demonstrates the importance of tight integration between morphology, high-level planning, and control to enable mobile loco-manipulation and grasping, substantially expanding its interaction capabilities, workspace, and traversability.