Shared Object Manipulation with a Team of Collaborative Quadrupeds
Shengzhi Wang, Niels Dehio, Xuanqi Zeng, Xian Yang, Lingwei Zhang, Yun-Hui Liu, K. W. Samuel Au
公開日: 2025/10/1
Abstract
Utilizing teams of multiple robots is advantageous for handling bulky objects. Many related works focus on multi-manipulator systems, which are limited by workspace constraints. In this paper, we extend a classical hybrid motion-force controller to a team of legged manipulator systems, enabling collaborative loco-manipulation of rigid objects with a force-closed grasp. Our novel approach allows the robots to flexibly coordinate their movements, achieving efficient and stable object co-manipulation and transport, validated through extensive simulations and real-world experiments.