# RB-Y1: Redundant Whole-Body Control and Compliant Mobile Manipulation for a Wheeled Dual-Arm Robot

- Source: Guyuehome
- Published: 2026-10-17T15:38:00.000Z
- RoboHot: https://robohot.news/en/items/feojhyjkqwf8y2ookr5t4zz2c
- Original: https://www.guyuehome.com/detail?id=2105194895565156353

## Summary

The RB-Y1 wheeled dual-arm robot demonstrates redundant whole-body control based on generalized coordinates and the Jacobian, including null-space utilization for manipulability maximization and joint-limit avoidance. The experiments show push-disturbance recovery under task-space impedance control, as well as mobile manipulation in which base movement expands the workspace.