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Yang-Zhi Yang

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#machine learning Preprint Oct 2026

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