Project Overview

In the growing field of legged robotics, the integration of locomotion and manipulation—loco-manipulation—poses a significant challenge. This work presents an open-source framework that facilitates planning through contact, enhancing robots’ capabilities in logistics, construction, and even planetary exploration. We validate our framework’s effectiveness on the Unitree Go1 equipped with a custom arm, demonstrating its application across various gaits and jumping maneuvers.

Publication

Bimodal Quadruped Robot (Senior Capstone)
Ethan Chandler*, Akshay Jaitly*, Lehong Wang*, Puen Xu*, Yifu Yuan*, Tao Zou*, Digital WPI, 2024. (* Equal Contribution)
RBE Department MQP Award Honorable Mention, WPI, May 2024.

 Paper    Code    ALMaS Group, WPI