波士顿动力狗gogo回来了，“五条腿”协同发力

Core Insights - Boston Dynamics' Spot robot can lift a 15 kg tire in just 3.7 seconds, showcasing advanced dynamic whole-body manipulation techniques [1][11] - The robot's performance exceeds traditional static assumptions, demonstrating the ability to coordinate movements effectively beyond its maximum lifting capacity [13] Group 1: Dynamic Whole-Body Manipulation - The method combines sampling and learning to enable the robot to perform tasks requiring coordination of arms, legs, and torso [1][2] - A hierarchical control approach divides the control problem into two layers: low-level control for balance and stability, and high-level control for task-specific strategies [2][14] Group 2: Control Strategies - The low-level control uses reinforcement learning to manage motor torque for stability, while high-level control employs sampling-based strategies for tasks like tire alignment and stacking [2][7] - The sampling controller simulates multiple future scenarios in parallel to identify the most effective actions for task completion [3][5] Group 3: Performance Metrics - The robot achieved an average time of 5.9 seconds per tire, nearly matching human operational speed [11] - The dynamic coordination allows the robot to handle weights significantly exceeding its peak lifting capabilities, expanding its operational range [13][14] Group 4: Learning and Adaptation - The training process incorporates randomization of object properties to bridge the gap between simulation and real-world application [10] - The use of an asymmetric actor-critic architecture for training enhances the robot's ability to adapt to complex dynamics and contact mechanics [8][10]