Shared Object Manipulation with a Team of Collaborative Quadrupeds
Fuente:
arXiv
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| Autores principales: | , , , , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866908571777630208 |
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| author | Wang, Shengzhi Dehio, Niels Zeng, Xuanqi Yang, Xian Zhang, Lingwei Liu, Yun-Hui Au, K. W. Samuel |
| author_facet | Wang, Shengzhi Dehio, Niels Zeng, Xuanqi Yang, Xian Zhang, Lingwei Liu, Yun-Hui Au, K. W. Samuel |
| contents | Utilizing teams of multiple robots is advantageous for handling bulky objects. Many related works focus on multi-manipulator systems, which are limited by workspace constraints. In this paper, we extend a classical hybrid motion-force controller to a team of legged manipulator systems, enabling collaborative loco-manipulation of rigid objects with a force-closed grasp. Our novel approach allows the robots to flexibly coordinate their movements, achieving efficient and stable object co-manipulation and transport, validated through extensive simulations and real-world experiments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_00682 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Shared Object Manipulation with a Team of Collaborative Quadrupeds Wang, Shengzhi Dehio, Niels Zeng, Xuanqi Yang, Xian Zhang, Lingwei Liu, Yun-Hui Au, K. W. Samuel Robotics Multiagent Systems Systems and Control Utilizing teams of multiple robots is advantageous for handling bulky objects. Many related works focus on multi-manipulator systems, which are limited by workspace constraints. In this paper, we extend a classical hybrid motion-force controller to a team of legged manipulator systems, enabling collaborative loco-manipulation of rigid objects with a force-closed grasp. Our novel approach allows the robots to flexibly coordinate their movements, achieving efficient and stable object co-manipulation and transport, validated through extensive simulations and real-world experiments. |
| title | Shared Object Manipulation with a Team of Collaborative Quadrupeds |
| topic | Robotics Multiagent Systems Systems and Control |
| url | https://arxiv.org/abs/2510.00682 |