MOBIUS机器人能走、爬、滚，还能抓握，四足联动实现复杂地形移动。
MOBIUS: A Multi-Modal Bipedal Robot that can Walk, Crawl, Climb, and Roll
- 四肢体结构+双臂双足，无需换装即可跨地形切换运动模式。
- 通过强化学习与力控结合，实现稳定攀爬和全身负载抓握。
- 高阶规划自动选模式，兼顾稳定性与能耗，适合复杂环境任务。
本文提出MOBIUS平台，一种具备行走、爬行、攀爬和滚动能力的双足机器人。该机器人配备四条肢体：两支6-DoF机械臂带双指夹爪，用于操作与攀爬；两支4-DoF腿部用于移动，可实现不同地形间的平滑过渡且无需重新配置。采用混合控制架构，利用强化学习优化运动，以力控保障操作中的柔顺接触。高层级MIQCP规划器自主选择运动模式，在稳定性与能效间取得平衡。硬件实验验证了稳健的步态切换、动态攀爬及通过夹持抓握实现的全身负载支撑。总体表明，形态、高层规划与控制的紧密集成对实现移动式人机协同与抓握至关重要，显著拓展了其交互能力、作业空间与越障性能。
原文摘要 · Abstract (English)
This paper presents the MOBIUS platform, a bipedal robot capable of walking, crawling, climbing, and rolling. MOBIUS features four limbs, two 6-DoF arms with two-finger grippers for manipulation and climbing, and two 4-DoF legs for locomotion--enabling smooth transitions across diverse terrains without reconfiguration. A hybrid control architecture combines reinforcement learning for locomotion and force control for compliant contact interactions during manipulation. A high-level MIQCP planner autonomously selects locomotion modes to balance stability and energy efficiency. Hardware experiments demonstrate robust gait transitions, dynamic climbing, and full-body load support via pinch grasp. Overall, MOBIUS demonstrates the importance of tight integration between morphology, high-level planning, and control to enable mobile loco-manipulation and grasping, substantially expanding its interaction capabilities, workspace, and traversability.
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