Abstract
The studies on quadruped robots equipped with arms are still rare at the moment. The interaction between the arm and the quadrupedal platform needs to be handled by whole-body controllers. This paper presents an optimization-based dynamic whole-body controller to solve the problem of when the robot stands still for manipulation. In order to reduce the strong interaction when the robot is trotting, we keep using the whole-body controller to handle locomotion control and resort to joint PD controllers for the arm’s manipulation coupled with the mobile base on the kinematic level. Simulation results validate the expected locomotion and manipulation functionalities in both manipulation mode and loco-manipulation mode. The proposed control strategies are able to use the redundancy to perform multiple tasks in a dynamic system as such with 24 degrees of freedom.
Funder
Fundamental Research Funds for the Central Universities
Subject
Electrical and Electronic Engineering,Industrial and Manufacturing Engineering,Control and Optimization,Mechanical Engineering,Computer Science (miscellaneous),Control and Systems Engineering
Cited by
12 articles.
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