# Autonomous Obstacle Legipulation with a Hexapod Robot

arXiv: https://arxiv.org/abs/2011.06227 · HTML: https://mlsanity.com/paper/2011.06227/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 12 Nov 2020.

## Built on by (most cited first, 2 of 2)

- [Pedipulate: Enabling Manipulation Skills using a Quadruped Robot's Leg](https://mlsanity.com/paper/2402.10837/) (2024)
- [Monocular Road Planar Parallax Estimation](https://mlsanity.com/paper/2111.11089/) (2021)

## Abstract (arXiv)

Legged robots traversing in confined environments could find their only path is blocked by obstacles. In circumstances where the obstacles are movable, a multilegged robot can manipulate the obstacles using its legs to allow it to continue on its path. We present a method for a hexapod robot to autonomously generate manipulation trajectories for detected obstacles. Using a RGB-D sensor as input, the obstacle is extracted from the environment and filtered to provide key contact points for the manipulation algorithm to calculate a trajectory to move the obstacle out of the path. Experiments on a 30 degree of freedom hexapod robot show the effectiveness of the algorithm in manipulating a range of obstacles in a 3D environment using its front legs.