Whole-Body Dynamic Throwing with Legged Manipulators

Understand

Throwing with a legged robot involves precise coordination of object manipulation and locomotion - crucial for advanced real-world interactions.

• Most research focuses on either manipulation or locomotion, with minimal exploration of tasks requiring both.
• This work investigates leveraging all available motors (full-body) over arm-only throwing in legged manipulators.
• We frame the task as a deep reinforcement learning (RL) objective, optimising throwing accuracy towards any user-commanded target destination and the robot's stability.