SCRUB: Contact-Based Surface-Frame Estimation for Force-Motion Control with an Armless Quadruped
Overview
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.
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- 2026-11-09T03:27:33.592Z · evidence updated · source revision 1. Evidence extraction was updated; current source attributions are shown above.
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- arXiv Robotics — research abstractsSignalSCRUB: 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.
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Current attention 3·Peak within the comparable range 3（2026-11-07 00:00 UTC）·Change within the comparable range over 24 hours –
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