This paper presents the MOBIUS platform, a bipedal robot capable of walking, crawling, climbing, and rolling. MOBIUS features four limbs, two 6-DoF arms with two-finger grippers for manipulation and climbing, and two 4-DoF legs for locomotion--enabling smooth transitions across diverse terrains without reconfiguration. A hybrid control architecture combines reinforcement learning for locomotion and force control for compliant contact interactions during manipulation. A high-level MIQCP planner autonomously selects locomotion modes to balance stability and energy efficiency. Hardware experiments demonstrate robust gait transitions, dynamic climbing, and full-body load support via pinch grasp. Overall, MOBIUS demonstrates the importance of tight integration between morphology, high-level planning, and control to enable mobile loco-manipulation and grasping, substantially expanding its interaction capabilities, workspace, and traversability.

翻译：本文介绍MOBIUS平台，这是一种具备行走、爬行、攀爬和滚动能力的双足机器人。MOBIUS配备四个肢体：两个用于操作与攀爬的6自由度手臂（带双指夹持器）和两个用于移动的4自由度腿部——使其无需重新配置即可在不同地形间平滑切换。混合控制架构结合了用于移动的强化学习与用于操作过程中顺应性接触交互的力控制。高层MIQCP规划器自主选择移动模式，以平衡稳定性与能量效率。硬件实验展示了稳健的步态转换、动态攀爬以及通过捏握实现的全身体重支撑。总体而言，MOBIUS证明了形态设计、高层规划与控制之间的紧密集成对于实现移动式操作与抓取的重要性，从而显著扩展了其交互能力、工作空间和地形通过性。