Legged Manipulator

Legged manipulators, robots combining legged locomotion with robotic arms, are a rapidly advancing field aiming to create robust and versatile robots capable of navigating complex environments and performing intricate manipulation tasks. Current research emphasizes developing efficient whole-body control strategies, often employing model predictive control (MPC) or reinforcement learning (RL) to coordinate the complex interactions between legs and arms, sometimes incorporating teacher-student approaches or asymmetric actor-critic architectures. These advancements are significant for expanding the capabilities of robots in unstructured environments, with applications ranging from search and rescue to industrial automation and home assistance.