Humanoid Rickshaw Pulling: Whole-Body Locomotion under Coupled Wheeled Loads
Humanoid robots could transport payloads substantially heavier than themselves by pulling passive wheeled vehicles instead of carrying the load. This capability, however, creates a coupled locomotion problem: the robot must maintain persistent upper-body contact while adapting to unknown, configuration-dependent forces...
Yang-Zhi Yang, Xian-Sheng Lin, Zhao-Ming Xie et al.
· 0 citations