2 papers
cs.RO2026
S2M-Trek: From Single to Multi-Sphere Transport via Per-Frame Deep Sets on a Wheel-Legged Robot
Zong Chen, Xuebin Li, Jinpeng Xiao +5
We study the problem of scaling dynamic loco-manipulation from a single free-rolling sphere to multiple spheres transported simultaneously on the back of a wheel-legged quadruped,…
cs.RO2025
Whole-body Motion Control of an Omnidirectional Wheel-Legged Mobile Manipulator via Contact-Aware Dynamic Optimization
Zong Chen, Shaoyang Li, Ben Liu +3
Wheel-legged robots with integrated manipulators hold great promise for mobile manipulation in logistics, industrial automation, and human-robot collaboration. However, unified con…