A Transferable Legged Mobile Manipulation Framework Based on Disturbance Predictive Control

@article{Yao2022ATL,
  title={A Transferable Legged Mobile Manipulation Framework Based on Disturbance Predictive Control},
  author={Qingfeng Yao and Jilong Wang and Shuyu Yang and Cong Wang and Linghan Meng and Qifeng Zhang and Donglin Wang},
  journal={ArXiv},
  year={2022},
  volume={abs/2203.03391}
}
Due to their ability to adapt to different terrains, quadruped robots have drawn much attention in the research field of robot learning. Legged mobile manipulation, where a quadruped robot is equipped with a robotic arm, can greatly enhance the performance of the robot in diverse manipulation tasks. Several prior works have investigated legged mobile manipulation from the viewpoint of control theory. However, modeling a unified structure for various robotic arms and quadruped robots is a… 

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