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Combining manipulation with the mobility of legged robots is essential for a wide range of robotic applications.
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M. Mittal, D. Hoeller, F. Farshidian, M. Hutter, and A. Garg, “Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2022, pp. 1647–1654
2022
Cited alongside, same era.
J.-R. Chiu, J.-P. Sleiman, M. Mittal, F. Farshidian, and M. Hutter, “A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation,” pp. 4686–4693, 2022
2022
Cited alongside, same era.
Y. Ma, F. Farshidian, T. Miki, J. Lee, and M. Hutter, “Combining Learning-Based Locomotion Policy With Model-Based Manipulation for Legged Mobile Manipulators,” IEEE Robotics and Automation Letters (RA-L) , vol. 7, no. 2, pp. 2377–2384, 2022
2022
Cited alongside, same era.
N. Rudin, D. Hoeller, P. Reist, and M. Hutter, “Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning,” pp. 91–100, 2022
2022
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A. Allshire, M. MittaI, V. Lodaya, V. Makoviychuk, D. Makoviichuk, F. Widmaier, M. Wüthrich, S. Bauer, A. Handa, and A. Garg, “Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2022
2022
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G. Ji, J. Mun, H. Kim, and J. Hwangbo, “Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotion,” IEEE Robotics and Automation Letters (RA-L) , vol. 7, no. 2, p. 4630–4637, Apr. 2022
2022
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2023
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Z. Fu, X. Cheng, and D. Pathak, “Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion,” in Conference on Robot Learning (CoRL) , 2023, pp. 138–149
2023
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2023
Later among the works it cites.
P. Arm, M. Mittal, H. Kolvenbach, and M. Hutter, “Pedipulate: Enabling Manipulation Skills using a Quadruped Robot’s Leg,” in IEEE International Conference on Robotics and Automation (ICRA) , 2024, pp. 5717–5723
2024
Closest in time.
T. Portela, G. B. Margolis, Y. Ji, and P. Agrawal, “Learning Force Control for Legged Manipulation,” in IEEE International Conference on Robotics and Automation (ICRA) , 2024, pp. 15 366–15 372
2024
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G. Pan, Q. Ben, Z. Yuan, G. Jiang, Y. Ji, S. Li, J. Pang, H. Liu, and H. Xu, “RoboDuet: Whole-body Legged Loco-Manipulation with Cross-Embodiment Deployment,” 2024
2024
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M. Liu, Z. Chen, X. Cheng, Y. Ji, R. Yang, and X. Wang, “Visual Whole-Body Control for Legged Loco-Manipulation,” in Conference on Robot Learning (CoRL) , 2024
2024
Closest in time.
H. Ha, Y. Gao, Z. Fu, J. Tan, and S. Song, “UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers,” in Conference on Robot Learning (CoRL) , 2024
2024
Closest in time.
ANYbotics, “Anymal specifications,” 2023, Accessed 1-September-2024. [Online]. Available: https://www.anybotics.com/anymal-autonomous-legged-robot/
2024
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Duatic, “Dynaarm specifications,” 2023, Accessed 1-September-2024. [Online]. Available: https://duatic.com/
2024
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A. R. Geist, J. Frey, M. Zhobro, A. Levina, and G. Martius, “Learning with 3D rotations, a hitchhiker’s guide to SO(3),” in Proceedings of the 41st International Conference on Machine Learning , vol. 235, 2024, pp. 15 331–15 350
2024
Closest in time.
T. Miki, J. Lee, L. Wellhausen, and M. Hutter, “Learning to walk in confined spaces using 3D representation,” in IEEE International Conference on Robotics and Automation (ICRA) , 2024, pp. 8649–8656
2024
Closest in time.