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Brace Yourself: Task-Conditioned Environmental Bracing for Forceful Humanoid Manipulation

arXiv · AI, language, vision and robotics · article · Sep 21, 2026 · UTC

Forceful manipulation is challenging for humanoid robots because interaction forces can disturb whole-body balance. We introduce the Supporting Hand Strategy (SHS), which enables a humanoid to brace against the environment with one hand while performing forceful manipulation with the other. SHS optimises a task-conditioned support configuration that guides two synchronous reinforcement-learning policies, without human motion data or online whole-body trajectory planning. On a Unitree G1, SHS achieved usable contact forces up to 60 N, compared with a maximum sustained force of 13.5 N without en

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