MorphoGuard: A Morphology-Based Whole-Body Interactive Motion Controller

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Abstract:Whole-body control (WBC) has demonstrated significant advantages in complex interactive movements of high-dimensional robotic systems. However, when a robot is required to handle dynamic multi-contact combinations along a single kinematic chain-such as pushing open a door with its elbow while grasping an object-it faces major obstacles in terms of complex contact representation and joint configuration coupling. To address this, we propose a new control approach that explicitly manages arbitrary contact combinations, aiming to endow robots with whole-body interactive capabilities. We develop a morphology-constrained WBC network (MorphoGuard)-which is trained on a self-constructed dual-arm physical and simulation platform. A series of model recommendation experiments are designed to systematically investigate the impact of backbone architecture, fusion strategy, and model scale on network performance. To evaluate the control performance, we adopt a multi-object interaction task as the benchmark, requiring the model to simultaneously manipulate multiple target objects to specified positions. Experimental results show that the proposed method achieves a contact point management error of approximately 1 cm, demonstrating its effectiveness in whole-body interactive control.

Subjects:

Systems and Control (eess.SY); Robotics (cs.RO)

Cite as: arXiv:2604.01517 [eess.SY]

(or arXiv:2604.01517v1 [eess.SY] for this version)

https://doi.org/10.48550/arXiv.2604.01517

arXiv-issued DOI via DataCite (pending registration)

Submission history

From: Chengjin Wang [view email] [v1] Thu, 2 Apr 2026 01:13:29 UTC (2,866 KB)