外观
论文arXiv 2511.017743 个月前
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：MOBIUS: A Multi-Modal Bipedal Robot that can Walk, Crawl, Climb, and Roll（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
来源
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