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arXiv · 2604.01517

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

Chenjin Wang·Zheng Yan·Yanmin Zhou·Runjie Shen·Bin He
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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.

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Chenjin Wang, Zheng Yan, Yanmin Zhou, Runjie Shen, Bin He. 2026-04-02. MorphoGuard: A Morphology-Based Whole-Body Interactive Motion Controller. https://arxiv.org/abs/2604.01517

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