Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs
Fan Shi Timon Homberger Joonho Lee Takahiro Miki Moju Zhao Farbod Farshidian Kei Okada Masayuki Inaba Marco Hutter Fan Shi Timon Homberger Joonho Lee Takahiro Miki Moju Zhao Farbod Farshidian Kei Okada Masayuki Inaba Marco Hutter
Quadrupedal robots are skillful at locomotion tasks while lacking manipulation skills, not to mention dexterous manipulation abilities. Inspired by the animal behavior and the duality between multi-legged locomotion and multi-fingered manipulation, we showcase a circus ball challenge on a quadrupedal robot, ANYmal. We employ a model-free reinforcement learning approach to train a deep policy that ...