MobiExo: GPS-SLAM Fusion for Seamless Indoor-Outdoor Mobile Manipulation with Hand-Foot Coordination
Jianpeng Wang, Zhen Tian, Wenlong Chen, Dian Yuan, Zhou Zhou, Ming Cen, Xia Hua, Fei Yu
Abstract
Teleoperation systems for mobile robots face significant challenges in achieving seamless coordination across dynamic environments. We present MobiExo, a teleoperation system that unlocks seamless indoor-outdoor mobile manipulation. Our approach tackles two fundamental challenges: robust cross-environment localization and intuitive full-body control. A novel self-adaptive federated filter unifies GPS and SLAM, delivering continuous centimeter-level positioning (4.5±0.8 cm indoor, 6.8±1.2 cm outdoor) and eliminating transition errors. Simultaneously, an integrated hand-foot coordination framework translates the operator’s natural gait and gestures into fluid robot actions, maintaining remarkable millimeter-level end-effector precision (3.5±0.4 mm) during navigation. Extensive field trials validate our design, demonstrating high task success (96.7% indoor, 94.3% outdoor) and a 5.9× efficiency improvement in multi-location tasks over stationary setups. Code is available at: https://github.com/wangjianpeng200/MobiExo.git
BibTeX
@inproceedings{iros2025_mobiexogpsslamfu,
title = {MobiExo: GPS-SLAM Fusion for Seamless Indoor-Outdoor Mobile Manipulation with Hand-Foot Coordination},
author = {Jianpeng Wang and Zhen Tian and Wenlong Chen and Dian Yuan and Zhou Zhou and Ming Cen and Xia Hua and Fei Yu},
booktitle = {IROS 2025},
year = {2025}
}