{"ID":2846793,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2511.01774","arxiv_id":"2511.01774","title":"MOBIUS: A Multi-Modal Bipedal Robot that can Walk, Crawl, Climb, and Roll","abstract":"This paper presents the MOBIUS platform, a bipedal robot capable of walking, crawling, climbing, and rolling. MOBIUS features four limbs, two 6-DoF arms with two-finger grippers for manipulation and climbing, and two 4-DoF legs for locomotion--enabling smooth transitions across diverse terrains without reconfiguration. A hybrid control architecture combines reinforcement learning for locomotion and force control for compliant contact interactions during manipulation. A high-level MIQCP planner autonomously selects locomotion modes to balance stability and energy efficiency. Hardware experiments demonstrate robust gait transitions, dynamic climbing, and full-body load support via pinch grasp. Overall, MOBIUS demonstrates the importance of tight integration between morphology, high-level planning, and control to enable mobile loco-manipulation and grasping, substantially expanding its interaction capabilities, workspace, and traversability.","short_abstract":"This paper presents the MOBIUS platform, a bipedal robot capable of walking, crawling, climbing, and rolling. MOBIUS features four limbs, two 6-DoF arms with two-finger grippers for manipulation and climbing, and two 4-DoF legs for locomotion--enabling smooth transitions across diverse terrains without reconfiguration....","url_abs":"https://arxiv.org/abs/2511.01774","url_pdf":"https://arxiv.org/pdf/2511.01774v3","authors":"[\"Alexander Schperberg\",\"Yusuke Tanaka\",\"Stefano Di Cairano\",\"Dennis Hong\"]","published":"2025-11-03T17:28:38Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"eess.SY\"]","methods":"[\"Reinforcement Learning\"]","has_code":false}