نسخة أولية وصول مفتوح
Learning Holistic Whole-Body Loco-Manipulation with a Bipedal Mobile Manipulator
Bipedal loco-manipulation enables robots to interact with objects beyond the nominal workspace of their arms by coordinating locomotion and manipulation. Realizing this capability requires a low-level whole-body controller that translates task-level manipulation goals into coordinated arm and leg motions while maintain …