# 四足机器人的鲁棒非抓取物体运输

> 原文链接：https://robotics.hellobike.com/papers/2026-10-05-2610-07245
> 频道：papers | 更新日期：2026-10-05 | 标签：arxiv, cs.RO
> 核心摘要：提出面向四足机器人的鲁棒非抓取运输框架，结合不确定性感知轨迹优化、耦合凸MPC和全身QP，并在仿真与实物实验中验证。

# 四足机器人的鲁棒非抓取物体运输

::: v-pre
> 原文链接：[Robust Nonprehensile Object Transport with Quadruped Robots](https://arxiv.org/abs/2610.07245)（arXiv 2610.07245 · 发布日期：2026-10-05）

**Robust Nonprehensile Object Transport with Quadruped Robots**

提出面向四足机器人的鲁棒非抓取运输框架，结合不确定性感知轨迹优化、耦合凸MPC和全身QP，并在仿真与实物实验中验证。

## 核心要点

- 面向四足机器人非抓取搬运，关注物体惯性参数不确定性带来的鲁棒性问题。
- 不确定性感知轨迹优化生成闭环敏感度较低的物体运动参考轨迹。
- 耦合凸MPC联合预测机器人与载荷的CoM动态，全身QP施加地面反作用力约束。
- 相较固定姿态和直线基线，优化轨迹滑移约减少50%和30%，且CoM跟踪误差更低。

**验证范围与局限**：验证范围为物体惯性参数变化下的仿真和真实实验。

## 英文摘要 (Abstract)

In this paper, we present a robust nonprehensile object transportation framework for quadruped robots. An uncertainty-aware trajectory optimization method generates object motions with minimal closed-loop sensitivity to uncertain parameters. The resulting reference trajectory is tracked using a coupled convex model predictive controller that jointly predicts the CoM dynamics of the quadruped and the payload followed by a whole-body QP that enforces ground reaction constraints. The approach is evaluated through extensive simulations and real-world experiments under variations in the object's inertial parameters. Its performance is compared with fixed-orientation and straight-line trajectories as baseline. The results show that the optimized object motion reduces the sliding by approximately 50% compared with the fixed-orientation baseline and 30% compared with the straight-line baseline, while also achieving lower robot CoM tracking errors.

作者：Ainoor Teimoorzadeh, Riccardo Pretto, Mario Selvaggio, Gökhan Alcan, Sami Haddadin
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## 原始参考来源 (Sources)

- [arXiv 2610.07245：Robust Nonprehensile Object Transport with Quadruped Robots](https://arxiv.org/abs/2610.07245)