The paper "Pedipulate: Enabling Manipulation Skills using a Quadruped Robot’s Leg" by Philip Arm, Mayank Mittal, Hendrik Kolvenbach, and Marco Hutter explores the use of a quadruped robot's legs for manipulation tasks, a concept known as pedipulation. The authors aim to reduce the mechanical complexity and cost of legged robots by leveraging their legs for both locomotion and manipulation. They develop a reinforcement learning-based controller that tracks foot position targets, enabling the robot to perform various real-world tasks such as door opening, sample collection, and pushing obstacles. The controller is robust to disturbances, has a large workspace through whole-body behaviors, and can reach far-away targets using gait emergence. The paper demonstrates the controller's effectiveness through simulations and real-world experiments, showing its ability to handle load carrying of over 2.0 kg and interact with slippery surfaces and external forces. The key contributions include the design of the pedipulation controller, the investigation of its workspace, and its robustness to disturbances. The authors conclude that pedipulation can enable a broad range of manipulation tasks, making legged robots more versatile for applications like maintenance, home support, and exploration.The paper "Pedipulate: Enabling Manipulation Skills using a Quadruped Robot’s Leg" by Philip Arm, Mayank Mittal, Hendrik Kolvenbach, and Marco Hutter explores the use of a quadruped robot's legs for manipulation tasks, a concept known as pedipulation. The authors aim to reduce the mechanical complexity and cost of legged robots by leveraging their legs for both locomotion and manipulation. They develop a reinforcement learning-based controller that tracks foot position targets, enabling the robot to perform various real-world tasks such as door opening, sample collection, and pushing obstacles. The controller is robust to disturbances, has a large workspace through whole-body behaviors, and can reach far-away targets using gait emergence. The paper demonstrates the controller's effectiveness through simulations and real-world experiments, showing its ability to handle load carrying of over 2.0 kg and interact with slippery surfaces and external forces. The key contributions include the design of the pedipulation controller, the investigation of its workspace, and its robustness to disturbances. The authors conclude that pedipulation can enable a broad range of manipulation tasks, making legged robots more versatile for applications like maintenance, home support, and exploration.