Feeling Through the Load: Compliant Quadruped Locomotion under Payload Interactions
In this work, we develop a force-aware locomotion framework that treats payload interactions as commands that shape the motion of the combined robot-payload system.
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Key points
- Quadruped robots are increasingly expected to carry objects while moving through human environments.
- How can a quadruped infer and compliantly respond to such interactions using only onboard measurements?
- Our approach separates the learning of force-aware locomotion and force estimation on an unrestrained payload.
- We combine a compliant load-carrying policy with a causal force estimator, trained through estimator-in-the-loop data aggregation and finetuning, to predict interactions from onboard robot measurements.
Sources (1)
- [1]Feeling Through the Load: Compliant Quadruped Locomotion under Payload InteractionsarXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 6, 04:32 PM
In this work, we develop a force-aware locomotion framework that treats payload interactions as commands that shape the motion of the combined robot-payload system.
Quadruped robots are increasingly expected to carry objects while moving through human environments.
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