Humanoid Rickshaw Pulling: Whole-Body Locomotion under Coupled Wheeled Loads

תקציר מקורי באנגליתarXiv:2610.04238v2 Announce Type: replace-cross Abstract: Humanoid robots could transport payloads substantially heavier than themselves by pulling passive wheeled vehicles instead of carrying the load. This capability, however, creates a coupled locomotion problem: the robot must maintain persistent upper-body contact while adapting to unknown, configuration-dependent forces arising from the payload, vehicle, and terrain. We present a whole-body control framework for humanoid rickshaw pulling that tracks commanded vehicle motion while preserving balance and stable grasps under uncertain load dynamics. During training, a privileged teacher exploits vehicle states, interaction forces, and load properties. Its actions and latent are distilled into a history-conditioned student that implicitl