# MOBIUS：一种可行走、爬行、攀爬和滚动的多模态双足机器人

> 原文链接：https://robotics.hellobike.com/papers/2026-07-13-2511-01774
> 频道：papers | 更新日期：2026-07-13 | 标签：arxiv, cs.RO
> 核心摘要：提出MOBIUS双足机器人，结合多形态肢体、混合控制与MIQCP规划，并在硬件实验中验证多种运动与操作能力。

# MOBIUS：一种可行走、爬行、攀爬和滚动的多模态双足机器人

::: v-pre
> 原文链接：[MOBIUS: A Multi-Modal Bipedal Robot that can Walk, Crawl, Climb, and Roll](https://arxiv.org/abs/2511.01774)（arXiv 2511.01774 · 发布日期：2026-07-13）

**MOBIUS: A Multi-Modal Bipedal Robot that can Walk, Crawl, Climb, and Roll**

提出MOBIUS双足机器人，结合多形态肢体、混合控制与MIQCP规划，并在硬件实验中验证多种运动与操作能力。

## 核心要点

- 面向复杂地形中的移动操作与抓取，MOBIUS旨在实现行走、爬行、攀爬和滚动等模式。
- 平台采用四肢结构，双6自由度手臂带二指夹爪用于操作和攀爬，双4自由度腿用于运动。
- 控制上结合强化学习运动控制、带Reference Governor的导纳控制，以及自动调节的柔顺接触交互。
- 硬件实验展示了稳健步态转换、动态攀爬和通过捏抓实现的全身负载支撑。

**验证范围与局限**：验证范围为硬件实验中的步态转换、动态攀爬和捏抓全身负载支撑任务。

## 英文摘要 (Abstract)

This paper presents the MOBIUS platform, a bipedal robot capable of walking, crawling, climbing, and rolling.MOBIUS features four limbs, two 6-DoF arms with two-finger grippers for manipulation and climbing, and two 4-DoF legs for locomotion-enabling smooth transitions across diverse terrains without reconfiguration.A hybrid control architecture combines reinforcement learning for locomotion and admittance control enhanced for safety by a Reference Governor and auto-tuning toward compliant contact interactions during manipulation.A high-level MIQCP planner autonomously selects locomotion modes to balance stability and energy efficiency.Hardware experiments demonstrate robust gait transitions, dynamic climbing, and full-body load support via pinch grasp.Overall, MOBIUS demonstrates the importance of tight integration between morphology, high-level planning, and control to enable mobile locomanipulation and grasping, substantially expanding its interaction capabilities, workspace, and traversability.

作者：Alexander V. Schperberg, Yusuke Tanaka, Stefano Di Cairano, Dennis W. Hong
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## 原始参考来源 (Sources)

- [arXiv 2511.01774：MOBIUS: A Multi-Modal Bipedal Robot that can Walk, Crawl, Climb, and Roll](https://arxiv.org/abs/2511.01774)