Legged manipulators integrate exceptional terrain adaptability along with mobile manipulation capabilities, which make them highly promising for deployment in human-centric environments. By coordinating the control of both legs and arms, a whole-body controller can significantly expand the operational workspace of legged manipulators. However, many existing whole-body controllers primarily depend on proprioception and do not incorporate the critical exteroception required for effective terrain topology perception. This limitation can hinder their ability to adapt to varying environmental conditions and navigate complex terrains effectively. In this paper, we introduce TA-WBC, a terrain-aware whole-body control framework for legged manipulators, which features a novel RL-based unified policy tailored to whole-body loco-manipulation tasks in various terrains. Specifically, we employ a \rev{hierarchical exteroceptive encoder} to extract terrain features, providing an essential basis for the robot to proactively adapt posture and footholds. Furthermore, to facilitate stable cross-terrain loco-manipulation, we propose a novel end-effector sampling method based on the foot contact plane, \rev{decoupling the manipulation target from base height, roll, and pitch variations}. Moreover, a dual-policy distillation module is introduced to integrate expansive whole-body motion with terrain adaptability without catastrophic forgetting. The simulation and real-world experiments validate the robustness of our proposed controller, which leads to a larger reachable space, less tracking error, and reduced unexpected stumbles. This unified policy highlights the promising capabilities of legged manipulators in performing loco-manipulation tasks across complex terrains.
Legged manipulators combine the mobility of legged platforms with the manipulation capability of robotic arms. However, arm-induced Center-of-Mass shifts and dynamic disturbances make the system more prone to instability under actuator failures, potentially leading to falls, task failures, or safety risks. Existing fault-tolerant control methods mainly focus on locomotion alone, leaving the coupled problem of whole-body stability and arm reachability in fault-tolerant loco-manipulation largely unaddressed. To bridge this gap, we propose FT-WBC, a fault-tolerant loco-manipulation framework for robust whole-body control of legged manipulators under actuator failures. FT-WBC adopts a decoupled upper- and lower-body policy architecture and introduces two key modules: a Fault Estimator (FE) and a Posture Adaptation Module (PAM). The FE predicts faulty joints from lower-body proprioceptive histories, while the PAM uses this fault information to adapt the base posture plan generated by the arm policy, converting potentially unstable posture requests into safe and executable base posture commands. Through this fault-aware posture adaptation mechanism, FT-WBC synthesizes compensatory gaits under actuator failures and preserves as much arm workspace as possible while maintaining whole-body stability. Simulation and real-world experiments show that FT-WBC significantly improves survival rate and workspace under weakening or locked failures, and transfers zero-shot to a real legged manipulator in the real world.
Bipedal loco-manipulation enables robots to interact with objects beyond the nominal workspace of their arms by coordinating locomotion and manipulation. Realizing this capability requires a low-level whole-body controller that translates task-level manipulation goals into coordinated arm and leg motions while maintaining balance. We present a unified whole-body controller trained with reinforcement learning that directly maps 6-DoF end-effector targets to coordinated actions for the bipedal base and robotic arm. Given only an end-effector target, the learned controller autonomously coordinates reaching, postural adaptation, and stepping without explicit base-velocity or footstep commands. A reward-gating strategy regulates the trade-offs among end-effector tracking, locomotion, and balance during training, while a temporal context estimator combines windowed Transformer encoding, recurrent GRU memory, and auxiliary dynamics prediction to extract dynamics-relevant information from observation history. Real-robot experiments demonstrate that the same controller supports reaching, postural adaptation, and stepping under commands from VR teleoperation, a learned diffusion policy, and scripted trajectories, providing a common end-effector interface for diverse manipulation tasks.
Dynamic loco-manipulation requires legged robots to coordinate whole-body motion while maintaining stable physical interaction with grasped objects under uncertain external forces. While tactile sensing has been widely studied for robotic manipulation, its role in dynamic whole-body control remains largely unexplored. Existing works without tactile feedback commonly grasp firmly rather than regulate the grasp according to the interaction. We propose TAC-LOCO, a tactile-augmented unified reinforcement learning framework that encodes tactile array observations from compliant grippers into a compact latent representation and joins it with proprioception for unified control of the legs, arm, and gripper. With effective grasp stability reward design, the policy learns to simultaneously track body velocity and end-effector trajectories, moderate grasp force, and prevent object slip under both gradual load changes and sudden release events. We deploy the policy zero-shot on a Unitree Go2 with an Interbotix WidowX 250 arm and tactile gripper, demonstrating dynamic tactile-informed loco-manipulation under varying external interactions, achieving a 47% reduction in grasping force and an object drop rate of less than 1%.