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Robot movement and gripping of ball and payload platform. (a–c) The robot continuously moves forward towards the target. (d) It lifts the operating leg. (e) It grips the target ball component. (f) Manipulates the ball component to move. (g) Adjusts its posture to place the ball on the platform. (h) Uses the platform of the ball as the target for gripping. (i) Manipulates the platform while ensuring that the ball does not roll off.
