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arXiv · 2510.00682

Shared Object Manipulation with a Team of Collaborative Quadrupeds

Shengzhi Wang·Niels Dehio·Xuanqi Zeng·Xian Yang·Lingwei Zhang·Yun-Hui Liu·K. W. Samuel Au
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Abstract

Utilizing teams of multiple robots is advantageous for handling bulky objects. Many related works focus on multi-manipulator systems, which are limited by workspace constraints. In this paper, we extend a classical hybrid motion-force controller to a team of legged manipulator systems, enabling collaborative loco-manipulation of rigid objects with a force-closed grasp. Our novel approach allows the robots to flexibly coordinate their movements, achieving efficient and stable object co-manipulation and transport, validated through extensive simulations and real-world experiments.

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Shengzhi Wang, Niels Dehio, Xuanqi Zeng, Xian Yang, Lingwei Zhang, Yun-Hui Liu, K. W. Samuel Au. 2025-10-01. Shared Object Manipulation with a Team of Collaborative Quadrupeds. https://arxiv.org/abs/2510.00682

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