SCRUB: Contact-Based Surface-Frame Estimation for Force-Motion Control with an Armless Quadruped
SCRUB: Contact-Based Surface-Frame Estimation for Force-Motion Control with an Armless Quadruped
This research presents SCRUB, a method for estimating surface normals using contact-based cues to enable force-controlled sliding of tools on vertical surfaces by an armless quadruped. The approach combines force and velocity measurements processed through a Kalman filter and gait-cycle averaging to estimate surface orientation without prior knowledge of the normal vector or reliance on vision predictions. Experiments on Unitree Go1 hardware demonstrate successful wall traversal and column orbiting under nominal conditions, with performance degrading when specific cues or processing steps are removed.
The paper introduces SCRUB, a contact-based surface-frame estimation method enabling an armless quadruped to control tool force on unmapped vertical surfaces without relying on vision-predicted normals or friction models.
Source: arXiv Robotics — research abstracts · Read original article ↗
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gait cycle, and treats this mean as lying along the surface. On Unitree Go1 hardware at nominal speed and load, SCRUB completed every wall traverse and column orbit. No orbit completed with either cue removed, without gait averaging, or with a fixed normal.
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Source：arXiv Robotics — research abstracts · arxiv.org