{"paper":{"title":"Mobile Pedipulation for Object Sliding via Hierarchical Control on a Wheeled Bipedal Robot","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Yanran Ding, Yue Qin, Yulun Zhuang, Zelin Shen","submitted_at":"2026-06-17T16:09:02Z","abstract_excerpt":"In this letter, we present a hierarchical control framework that enables wheeled bipedal robots to perform planar object sliding tasks with their wheeled legs. The proposed approach formulates a nonlinear model predictive controller (NMPC) based on a reduced-order three rigid bodies (TRB) dynamical model that explicitly accounts for the hip roll degree of freedom and multiple wheel-environment contact modes, which is essential for lateral stepping and pedipulation tasks. Within this framework, the NMPC simultaneously regulates robot locomotion and interaction forces, allowing the robot to stab"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.19233","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2606.19233/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}