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cs.RO2026
Force-Aware Reinforcement Learning with Hybrid Sensorless Force Estimation for Wheeled-Legged Loco-Manipulation
Xuanqi Zeng, Jiaming Wang, Tianlin Zhang +5
Force-controlled loco-manipulation requires a whole-body policy to coordinate locomotion and arm motion while regulating end-effector interaction forces. This is challenging under…
cs.RO2026
VRA: Grounding Discrete-Time Joint Acceleration in Voltage-Constrained Actuation
Lingwei Zhang, Jiaming Wang, Tianlin Zhang +5
Discrete-time joint acceleration constraints are widely used to enforce position and velocity limits. However, under voltage-constrained electric actuators, kinematically admissibl…
cs.RO2026
Jumping Control for a Quadrupedal Wheeled-Legged Robot via NMPC and DE Optimization
Xuanqi Zeng, Lingwei Zhang, Linzhu Yue +4
Quadrupedal wheeled-legged robots combine the advantages of legged and wheeled locomotion to achieve superior mobility, but executing dynamic jumps remains a significant challenge…