面向感知式足式移动操作的地形感知全身控制学习
原标题：Learning Terrain-Aware Whole-Body Control for Perceptive Legged Loco-Manipulation
技术动态AI 88
来源：arXiv cs.RO发布时间待核实
arXiv:2605.31343v2 Announce Type: replace Abstract: Legged manipulators integrate exceptional terrain adaptability along with mobile manipulation capabilities, which make them highly promising for deployment in human-centric environments. By coordinating the control of both legs and arms, a whole-body controller can significantly expand the operational workspace of legged manipulators. However, many existing whole-body controllers primarily depend on proprioception and do not incorporate the cri…