X2-N：一种可变形的轮腿双模人形机器人
X2-N: A Transformable Wheel-legged Humanoid Robot with Dual-mode Locomotion and Manipulation
AI总结：
X2-N是一种具备双模运动与操作的高自由度可变形机器人，通过关节重构实现人形与轮腿形态的无缝转换，采用强化学习框架实现混合运动、转换与操作的统一控制。
摘要：
轮腿机器人结合了轮式运动的效率与腿部系统的多功能性，能够快速跨越连续和离散地形。然而，传统设计通常采用固定轮作为脚部，髋部自由度有限，导致腿部运动稳定性与机动性低于具有平脚的人形机器人。此外，大多数现有平台缺乏完整上身与手臂，限制了其执行灵巧操作任务的能力。在本文中，我们介绍了X2-N，一种具有高自由度的可变形机器人，具备双模运动与操作能力。X2-N可以以人形或轮腿形态运行，并通过关节重构无缝转换。我们进一步提出了一种针对这种形态的强化学习（RL）基于整体身体控制框架，实现混合运动、转换和操作的统一控制。我们验证了X2-N在一系列具有挑战性的运动和操作任务中的表现，包括动态滑冰样运动、爬楼梯和包裹配送。结果表明，X2-N具有高运动效率、强地形适应性和稳定的运动-操作性能，突显了其在现实世界中的应用潜力。
英文摘要：
Wheel-legged robots combine the efficiency of wheeled locomotion with the versatility of legged systems, enabling rapid traversal over both continuous and discrete terrains. However, conventional designs typically employ fixed wheels as feet and limited degrees of freedom (DoFs) at the hips, resulting in reduced stability and mobility during legged locomotion compared to humanoids with flat feet. In addition, most existing platforms lack a full upper body with arms, which limits their ability to perform dexterous manipulation tasks. In this letter, we present X2-N, a high-DoF transformable robot with dual-mode locomotion and manipulation. X2-N can operate in both humanoid and wheel-legged forms and transform seamlessly between them through joint reconfiguration. We further propose a reinforcement learning (RL)-based whole-body control framework tailored to this morphology, enabling control across hybrid locomotion, transformation, and manipulation. We validate X2-N in a range of challenging locomotion and manipulation tasks, including dynamic skating-like motion, stair climbing, and package delivery. Results demonstrate high
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。
