四足机器人团队协作搬运大件物体，实现稳定力闭合抓握。
Shared Object Manipulation with a Team of Collaborative Quadrupeds
- 扩展经典混合力-运动控制器至多足机器人团队
- 实现在仿真与真实环境中的稳定协同搬运
- 适合需要灵活搬运重物的复杂场景应用
使用多个机器人团队可有效处理大体积物体。现有研究多集中于多机械臂系统，受限于工作空间。本文将经典混合力-运动控制器扩展至多足机器人团队，实现刚性物体的力闭合抓握协同运动操控。新方法使机器人能灵活协调动作，高效稳定地完成物体共搬运与运输，通过大量仿真和真实实验验证。
原文摘要 · Abstract (English)
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.
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