Humanoid SRL: Augmenting Humanoids with Supernumerary Limbs for Coordinated Loco-Manipulation

Key points

• Humanoid robots are envisioned to perform diverse human-level tasks through their anthropomorphic morphology.1
• Supernumerary robotic limbs (SRLs) offer a way to extend these capabilities, but their integration requires the added limb to be coordinated with whole-body motion and balance.1
• Through quantitative analysis and hardware experiments across two configurations, we show how the additional limb expands whole-body interaction capabilities by enabling manipulation and support to be coordinated beyond the constraints of the native dual-arm configuration.1
• To control this augmented morphology, we leverage model-based trajectory optimization (TO) to generate dynamically feasible motions for goal-conditioned reinforcement learning (RL) controllers.1

Sources (1)

• [1]Humanoid SRL: Augmenting Humanoids with Supernumerary Limbs for Coordinated Loco-Manipulation
  arXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 19, 01:08 AM

  In this study, we develop and integrate a supernumerary arm into a humanoid platform to investigate how morphological augmentation reshapes its feasible action space.

  Humanoid robots are envisioned to perform diverse human-level tasks through their anthropomorphic morphology.

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