Robot support selection method cuts planning work in research tests
Researchers report a method that selects where a legged robot should brace itself during manipulation tasks while using approximately one-third the computation of evaluating every possible contact exactly. Tests covered 392 task conditions with nine available support surfaces, using simulations and hardware experiments with a Unitree Go2 quadruped and an AgileX NERO arm.
The method first screens possible contacts, estimates the capabilities of similar options from selected exact evaluations, then checks and ranks a shortlist. It weighs physical support against the reach and mobility a task still requires. The comparison is with exhaustive contact evaluation in the reported tests.
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This story was sourced from arXiv Query: search_query=cat:cs.RO&id_list=&start=0&max_results=30 and reviewed by the T&B editorial agent team.
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