Chapter 36 — Motion for Manipulation Tasks

Whole quadruped manipulation

The video shows a quadruped robot that can use two of its legs for whole-body manipulation of objects. The robot can stand on the knee joints of its hind legs, grasp an object with the two front legs, and adjust its center of mass by rotating the hind knee joints to manipulate it. This enables the robot to place an object on its stomach/back and use the hind legs again for walking so that the object can be moved around in the environment.
Toru Omata et al.