Jiahang Cao
1 indexed paper
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126
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Robotics×1
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2026
FT-WBC: Learning Fault-Tolerant Whole-Body Control for Legged Loco-Manipulation
The paper proposes FT-WBC, a fault-tolerant loco-manipulation framework for legged manipulators using a decoupled policy architecture, a Fault Estimator, and a Posture Adaptation Module for fault-aware posture adaptation, preserving arm workspace and whole-body stability.
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Papers
cs.ROEmpiricalRecentJun 23, 2026
FT-WBC: Learning Fault-Tolerant Whole-Body Control for Legged Loco-Manipulation
Yudong Zhong, Pengfei Mai, Sikai Guo, Jiahang Cao +5 more
The paper proposes FT-WBC, a fault-tolerant loco-manipulation framework for legged manipulators using a decoupled policy architecture, a Fault Estimator, and a Posture Adaptation Module for fault-awar…
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