Loco-Manipulation Control for Arm-Mounted Quadruped Robots: Dynamic and Kinematic Strategies
نویسندگان
چکیده
The studies on quadruped robots equipped with arms are still rare at the moment. interaction between arm and quadrupedal platform needs to be handled by whole-body controllers. This paper presents an optimization-based dynamic controller solve problem of when robot stands for manipulation. In order reduce strong is trotting, we keep using handle locomotion control resort joint PD controllers arm’s manipulation coupled mobile base kinematic level. Simulation results validate expected functionalities in both mode loco-manipulation mode. proposed strategies able use redundancy perform multiple tasks a system as such 24 degrees freedom.
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ژورنال
عنوان ژورنال: Machines
سال: 2022
ISSN: ['2075-1702']
DOI: https://doi.org/10.3390/machines10080719