外观
论文arXiv 2609.301401 个月前
将接触作为决策变量：面向腿式移动操作的能力权衡接触选择
该文针对腿式移动操作中的支撑接触与全身构型联合选择，提出CTCS并在仿真和真机实验中验证。
宇树 Go2原文链接：Contact as a Decision Variable: Capability-Tradeoff Contact Selection for Legged Loco-Manipulation（arXiv 2609.30140 · 发布日期：2026-09-24）
Contact as a Decision Variable: Capability-Tradeoff Contact Selection for Legged Loco-Manipulation
该文针对腿式移动操作中的支撑接触与全身构型联合选择，提出CTCS并在仿真和真机实验中验证。
核心要点
- 环境支撑接触可增强物理支撑，但也可能限制完成任务所需的运动。
- 方法以剩余力旋、末端可达性和基座机动性衡量能力，并与接触获取成本权衡。
- CTCS筛选可行候选、分组并用局部灵敏度预测能力，再选择性精确评估并排序。
- 在392个任务条件和九个支撑表面上，CTCS优于仅地面和固定接触支撑，并约快3倍。
验证范围与局限：验证范围为仿真和使用搭载 AgileX NERO 臂的 Unitree Go2 四足机器人的硬件实验。
英文摘要 (Abstract)
In this paper, we study the joint selection of an environmental support contact and a whole-body configuration for a prescribed loco-manipulation task. A contact may provide greater physical support while restricting the motion required for the task. We formulate this problem through three capability measures: residual wrench, end-effector reach, and base mobility available after satisfying the task requirements, and we balance them against contact acquisition cost. Evaluating these capabilities for every candidate requires repeated whole-body optimizations. To reduce this computational cost, we propose Capability-Tradeoff Contact Selection (CTCS). CTCS screens candidates for contact and task feasibility, groups similar candidates within each surface, and predicts their capabilities from exact anchor evaluations using local sensitivity analysis. It checks these predictions through selective exact evaluations, ranks candidates by capability, and evaluates a shortlist exactly for final selection. We evaluate CTCS in simulations and hardware experiments using a Unitree Go2 quadruped with an AgileX NERO arm across $392$ task conditions with nine available support surfaces. Results show that CTCS outperforms ground-only and fixed-contact support, as it can select support surfaces that provide favorable capability trade-offs for the task. Compared with evaluating every candidate exactly, CTCS achieves approximately $3\times$ speedup while closely matching the resulting mean objective value.
作者：Al Jaber Mahmud, Shuai Li, Xuan Wang
来源
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