SOURCE-LINKED INTELLIGENCE
Contact as a Decision Variable: Capability-Tradeoff Contact Selection for Legged Loco-Manipulation
In this paper, we study the joint selection of an environmental support contact and a whole-body configuration for a prescribed loco-manipulation task. A contact may provide greater physical support while restricting the motion required for the task. We formulate this problem through three capability measures: residual wrench, end-effector reach, and base mobility available after satisfying the task requirements, and we balance them against contact acquisition cost. Evaluating these capabilities for every candidate requires repeated whole-body optimizations. To reduce this computational cost,
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-24T17:08:28.000Z
First collected: 2026-09-25T06:12:46.948Z. This is not the publication date.