ALMA

ALMA integrates the quadrupedal robot ANYmal D with Duatic’s DynaArm, forming a fully torque-controllable platform designed for dynamic whole-body manipulation in unstructured environments. 

Our research focuses on holistic planning and control frameworks that exploit the integration between locomotion and manipulation to enable robust loco-manipulation behaviors in real-world scenarios. Direct applications of this research involve ALMA in telemanipulation for search-and-rescue operations, autonomous manipulation in industrial settings, agile sports applications, and assistive interactions with individuals with mobility impairments.