MOBIUS: A Multi-Modal Bipedal Robot that can Walk, Crawl, Climb, and Roll
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arXiv
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| Hauptverfasser: | , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| _version_ | 1866909032317452288 |
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| author | Schperberg, Alexander Tanaka, Yusuke Di Cairano, Stefano Hong, Dennis |
| author_facet | Schperberg, Alexander Tanaka, Yusuke Di Cairano, Stefano Hong, Dennis |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_01774 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | MOBIUS: A Multi-Modal Bipedal Robot that can Walk, Crawl, Climb, and Roll Schperberg, Alexander Tanaka, Yusuke Di Cairano, Stefano Hong, Dennis Robotics Systems and Control 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. |
| title | MOBIUS: A Multi-Modal Bipedal Robot that can Walk, Crawl, Climb, and Roll |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2511.01774 |