LocoMan：利用轻量化运动-操作器推进多功能四足灵巧性
LocoMan: Advancing Versatile Quadrupedal Dexterity with Lightweight Loco-Manipulators
AI总结：
本文提出LocoMan，通过在四足机器人前小腿加装轻量化3自由度操作器并扩展全身控制器，实现受限空间中的灵巧运动-操作。
摘要：
四足机器人已成为能够在复杂环境中移动和操作的多功能智能体。传统设计通常依赖机器人自身的身体部件，或在其顶部安装机械臂来完成操作任务。然而，这些配置可能限制机器人的操作灵巧性、效率和适应性，尤其是在杂乱或受限空间中。在这项工作中，我们提出了LocoMan，这是一种具有新颖形态的灵巧四足机器人，能够在多样化的受限环境中执行多功能操作。通过在Unitree Go1机器人的前小腿上装备两个低成本、轻量化的模块化3自由度运动-操作器，LocoMan结合了腿部和夹爪的移动性与功能性，以完成需要在宽广工作空间内对末端执行器进行精确6D定位的复杂操作任务。为了发挥LocoMan的运动-操作能力，我们引入了一个统一的控制框架，该框架扩展了全身控制器（WBC），以集成运动-操作器的动力学。通过实验，我们验证了所提出的全身控制器能够准确且稳定地跟踪末端执行器和躯干的期望6D轨迹，并且结合我们设计所提供的宽广工作空间，能够在受限空间中完成一系列具有挑战性的灵巧运动-操作任务，例如开门、插入插座、在狭窄低矮空间中拾取物体以及双臂操作。
英文摘要：
Quadrupedal robots have emerged as versatile agents capable of locomoting and manipulating in complex environments. Traditional designs typically rely on the robot's inherent body parts or incorporate top-mounted arms for manipulation tasks. However, these configurations may limit the robot's operational dexterity, efficiency and adaptability, particularly in cluttered or constrained spaces. In this work, we present LocoMan, a dexterous quadrupedal robot with a novel morphology to perform versatile manipulation in diverse constrained environments. By equipping a Unitree Go1 robot with two low-cost and lightweight modular 3-DoF loco-manipulators on its front calves, LocoMan leverages the combined mobility and functionality of the legs and grippers for complex manipulation tasks that require precise 6D positioning of the end effector in a wide workspace. To harness the loco-manipulation capabilities of LocoMan, we introduce a unified control framework that extends the whole-body controller (WBC) to integrate the dynamics of loco-manipulators. Through experiments, we validate that the proposed whole-body controller can accurately and stably follow desired 6D trajectories of the end effector and torso, which, when combined with the large workspace from our design, facilitates a diverse set of challenging dexterous loco-manipulation tasks in confined spaces, such as opening doors, plugging into sockets, picking objects in narrow and low-lying spaces, and bimanual manipulation.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
