Embodied AI

1 Introduction Although many legged robot platforms have locomotion as their primary function,[1-6] there is a growing trend toward utilizing legged robots for diverse object manipulation tasks.[7, 8] These tasks involve the integration of locomotion and object manipulation, which is commonly known as a (multitasking) loco-manipulation problem. Recently, several groups of robots have been developed for object loco-manipulation.

1. Introduction Legged locomotion control has been studied over decades. Previously studies mostly included biped (He et al., 2019; Akkawutvanich et al., 2020; Yao et al., 2022), quadruped (Chen et al., 2019; Fukui et al., 2019; Zhang et al., 2021), hexapod (Bai et al., 2019; Wang et al., 2020; Ouyang et al., 2021; Ma et al., 2022), and octopod (Grzelczyk et al., 2019; Miguel-Blanco and Manoonpong, 2020) robots.