MANUSH Motion

Role (Doc B §12): Locomotion and whole-body control.

MANUSH Motion controls how the robot's body moves: bipedal and quadrupedal locomotion, balance and whole-body control.

Responsibilities

• Walking, running, stair climbing, crouching, kneeling and getting up after a fall (humanoids).
• Quadruped gaits for uneven terrain, mines, construction sites and disaster zones (D-series).
• Whole-body control coordinating legs, torso and arms during manipulation.
• Speed and torque envelopes enforced from each skill's SafeCore permissions.

Building on Motion

Skills request motion primitives (walk to, turn, crouch, carry posture) rather than joint torques. The requested speed is always clamped to the skill's max_speed_mps and the robot's current SafeCore speed limit. Use the MANUSH Sim Physics simulation and Reinforcement learning gym environments to train and evaluate locomotion policies.