Preprint
Oct 2026
Reinforcement Learning Based Multi-Terrain Adaptive Whole-Body Control for a Quadruped Manipulator
Legged robots equipped with manipulators offer promising capabilities for loco-manipulation tasks in unstructured environments. However, achieving task-consistent end-effector behavior during locomotion remains challenging due to terrain-induced disturbances and the strong coupling between locomotion and manipulation,...
Yan-Zhou Jin, Fei Suo, Chang Liu et al.
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