坐着走：人形机器人在带脚轮被动座椅上的全向移动
Original title: Stay Seated: Learning Omnidirectional Humanoid Locomotion on a Passive Mobile Chair with Casters
ResearchAI 75
Source: arXiv cs.ROPublish time unverified
arXiv:2608.28090v1 Announce Type: new Abstract: Humanoid robots with quasi-direct-drive actuators continuously generate joint torque while standing, whereas seated humans delegate weight support to chairs during desk work. As a first step toward seated loco-manipulation, we study omnidirectional seated locomotion on a passive mobile chair, requiring unfixed pelvis-seat contact and intermittent foot-floor propulsion of the robot-chair system.