MorphoGuard: A Morphology-Based Whole-Body Interactive Motion Controller
Fuente:
arXiv
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Preprint |
| Published: |
2026
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866914439311130624 |
|---|---|
| author | Wang, Chenjin Yan, Zheng Zhou, Yanmin Shen, Runjie He, Bin |
| author_facet | Wang, Chenjin Yan, Zheng Zhou, Yanmin Shen, Runjie He, Bin |
| contents | Whole-body control (WBC) has demonstrated significant advantages in complex interactive movements of high-dimensional robotic systems. However, when a robot is required to handle dynamic multi-contact combinations along a single kinematic chain-such as pushing open a door with its elbow while grasping an object-it faces major obstacles in terms of complex contact representation and joint configuration coupling. To address this, we propose a new control approach that explicitly manages arbitrary contact combinations, aiming to endow robots with whole-body interactive capabilities. We develop a morphology-constrained WBC network (MorphoGuard)-which is trained on a self-constructed dual-arm physical and simulation platform. A series of model recommendation experiments are designed to systematically investigate the impact of backbone architecture, fusion strategy, and model scale on network performance. To evaluate the control performance, we adopt a multi-object interaction task as the benchmark, requiring the model to simultaneously manipulate multiple target objects to specified positions. Experimental results show that the proposed method achieves a contact point management error of approximately 1 cm, demonstrating its effectiveness in whole-body interactive control. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_01517 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | MorphoGuard: A Morphology-Based Whole-Body Interactive Motion Controller Wang, Chenjin Yan, Zheng Zhou, Yanmin Shen, Runjie He, Bin Systems and Control Robotics Whole-body control (WBC) has demonstrated significant advantages in complex interactive movements of high-dimensional robotic systems. However, when a robot is required to handle dynamic multi-contact combinations along a single kinematic chain-such as pushing open a door with its elbow while grasping an object-it faces major obstacles in terms of complex contact representation and joint configuration coupling. To address this, we propose a new control approach that explicitly manages arbitrary contact combinations, aiming to endow robots with whole-body interactive capabilities. We develop a morphology-constrained WBC network (MorphoGuard)-which is trained on a self-constructed dual-arm physical and simulation platform. A series of model recommendation experiments are designed to systematically investigate the impact of backbone architecture, fusion strategy, and model scale on network performance. To evaluate the control performance, we adopt a multi-object interaction task as the benchmark, requiring the model to simultaneously manipulate multiple target objects to specified positions. Experimental results show that the proposed method achieves a contact point management error of approximately 1 cm, demonstrating its effectiveness in whole-body interactive control. |
| title | MorphoGuard: A Morphology-Based Whole-Body Interactive Motion Controller |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2604.01517 |