KYON是可重构轮腿四足机器人，能灵活执行行走与双手操作任务。
KYON: Semi-Modular Wheel-Legged Quadruped With Agile Bimanual Capability
- 轮腿混合结构+可变下肢，适应不同地形。
- 基座驱动+传动设计，提升运动敏捷性。
- 强化学习控制，应对复杂环境干扰。
本文介绍KYON，一种具备双臂上身的混合轮腿四足机器人，用于实现移动与操作一体化任务。该平台采用半模块化设计，下肢可重构，支持在不同环境中切换轮式与足式运动模式。通过将驱动器置于基座并使用传动机构，降低远端惯性，显著提升动态性能与敏捷性。机器人集成了全身控制框架与基于强化学习的策略，能够独立处理非线性动力学问题，增强对扰动的鲁棒性，有效完成运动与操作任务。实验验证了其在复杂非结构化场景中实现高效动态运动与双臂协同操作的能力。
原文摘要 · Abstract (English)
This paper presents KYON, a hybrid wheel-legged quadruped robot equipped with a bimanual upper body for loco-manipulation tasks. The platform features a semi-modular design with a reconfigurable lower legs, enabling both wheeled and legged locomotion depending on the environment. A design approach that places actuators in the base and uses transmission mechanisms reduces distal inertia, improving agility and dynamic performance. The robot integrates a whole-body control framework together with a reinforcement learning based policy to handle nonlinear dynamics and enhance robustness to disturbances for the execution of locomotion and manipulation tasks, independently. Experimental results demonstrate effective dynamic locomotion and bimanual manipulation, validating the platform's capability to operate in complex and unstructured scenarios.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。