KALO: Kangaroo-LocoManipulation

Early-launch assistance for a Go2W-OpenArm wheeled-legged platform.

KALO launch evaluation for a Go2W-OpenArm wheeled-legged robot platform
Side-view KALO launch sequence for a Go2W-OpenArm wheeled-legged robot
Side-view launch sequence.
KALO launch-onset acceleration and front-load ratio traces
Launch-onset acceleration and front-load ratio traces.

I implemented early-launch assistance on a Go2W-OpenArm wheeled-legged platform, using the manipulator as a constrained inertial appendage during acceleration. I set up the Isaac Lab/RSL-RL experiments and compared Base, Fixed carrying-pose, and KALO controllers using normalized forward velocity, t50/t90, and directional consistency.

  • Role: launch-assist concept, Go2W-OpenArm setup, evaluation metrics, Isaac Lab/RSL-RL experiments
  • Tools: Isaac Lab, RSL-RL, PyTorch, PPO, Go2W-OpenArm
  • Result: normalized forward-velocity AUC(0-1.5 s) increased by 15.1% over Fixed (0.726 -> 0.835); t90 decreased from 1.703 s to 1.067 s; 90%-target-speed trials within 1.5 s increased from 29/128 to 69/128.
  • Paper: KALO: Kangaroo-LocoManipulation for Early Launch Acceleration in a Wheel-Legged Robot. IEEE/ASME AIM 2026, accepted.
  • Code: kelvin926/KALO