# Learning Rapid Turning, Aerial Reorientation, and Balancing using Manipulator as a Tail

arXiv: https://arxiv.org/abs/2407.10420 · HTML: https://mlsanity.com/paper/2407.10420/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 16 of its 32 references that are in the map.
- First posted on arXiv 15 Jul 2024.

## Builds on (most cited first, 16 of 16)

- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [Learning Quadrupedal Locomotion over Challenging Terrain](https://mlsanity.com/paper/2010.11251/) (2020)
- [Learning agile and dynamic motor skills for legged robots](https://mlsanity.com/paper/1901.08652/) (2019)
- [Learning robust perceptive locomotion for quadrupedal robots in the wild](https://mlsanity.com/paper/2201.08117/) (2022)
- [Rapid Locomotion via Reinforcement Learning](https://mlsanity.com/paper/2205.02824/) (2022)
- [Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion](https://mlsanity.com/paper/2210.10044/) (2022)
- [Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotion](https://mlsanity.com/paper/2202.05481/) (2022)
- [Not Only Rewards But Also Constraints: Applications on Legged Robot Locomotion](https://mlsanity.com/paper/2308.12517/) (2023)
- [A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation](https://mlsanity.com/paper/2103.00946/) (2021)
- [Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion](https://mlsanity.com/paper/2002.09676/) (2020)
- [CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning](https://mlsanity.com/paper/2403.18765/) (2024)
- [Learning Arm-Assisted Fall Damage Reduction and Recovery for Legged Mobile Manipulators](https://mlsanity.com/paper/2303.05486/) (2023)
- [Cat-like Jumping and Landing of Legged Robots in Low-gravity Using Deep Reinforcement Learning](https://mlsanity.com/paper/2106.09357/) (2021)
- [RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms](https://mlsanity.com/paper/2203.01446/) (2022)
- [Evaluation of Constrained Reinforcement Learning Algorithms for Legged Locomotion](https://mlsanity.com/paper/2309.15430/) (2023)
- [Towards Safe Landing of Falling Quadruped Robots Using a 3-DoF Morphable Inertial Tail](https://mlsanity.com/paper/2209.15337/) (2022)

## Built on by (most cited first, 1 of 1)

- [Reinforcement Learning from Wild Animal Videos](https://mlsanity.com/paper/2412.04273/) (2024)

## Abstract (arXiv)

In this research, we investigated the innovative use of a manipulator as a tail in quadruped robots to augment their physical capabilities. Previous studies have primarily focused on enhancing various abilities by attaching robotic tails that function solely as tails on quadruped robots. While these tails improve the performance of the robots, they come with several disadvantages, such as increased overall weight and higher costs. To mitigate these limitations, we propose the use of a 6-DoF manipulator as a tail, allowing it to serve both as a tail and as a manipulator. To control this highly complex robot, we developed a controller based on reinforcement learning for the robot equipped with the manipulator. Our experimental results demonstrate that robots equipped with a manipulator outperform those without a manipulator in tasks such as rapid turning, aerial reorientation, and balancing. These results indicate that the manipulator can improve the agility and stability of quadruped robots, similar to a tail, in addition to its manipulation capabilities.