四足机器人前腿集成双臂，落地操作不后仰。
Calf-Integrated Arms for Bimanual Quadruped Loco-Manipulation
- 前小腿内置滑轨+转轴+夹爪，实现双臂地面协同作业
- 四足着地时完成开柜、抬物、物品交接等复杂任务
- 结合视觉语言模型实现长时序自主技能调度
多数四足机器人在运动与操作间权衡：躯干臂位置高但单臂；用腿操作需离地；腿上夹爪完成双人任务须后仰。本文将带滑轨、两个旋转关节和夹爪的机械臂集成于Unitree Go2前小腿。双臂可于地面抓取并双手协作操作，四足始终着地，无需后仰。单臂持物时，底座仍可行走。通过视觉-语言模型，基于头摄像头图像和任务状态，在技能边界自动调用预设技能库，实现长时序自主。仿真中完成三项双臂任务：自主选择技能的长时序橱柜操作、双人协同抬物、双臂间物品传递。
原文摘要 · Abstract (English)
Most quadruped loco-manipulation designs trade manipulation capability against stance. A trunk-mounted arm sits high and usually carries a single arm; using the legs as manipulators lifts the manipulating leg off the ground; and even leg-mounted grippers reach two-handed tasks only by rearing onto the hind legs. This paper integrates a manipulator with a prismatic slider, two revolute joints, and a gripper into each front calf of a Unitree Go2. The two arms grasp objects at ground level and manipulate with both hands while all four feet stay planted, without rearing. With one arm carrying, the base stays free to walk. A vision-language model sequences skills from a predefined library at each skill boundary, conditioned on the head-camera image and task state, for long-horizon autonomy. In simulation, the design performs three bimanual tasks: a long-horizon cabinet task under autonomous skill selection, a cooperative two-handed lift, and an inter-arm handover.
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