A mobile manipulation control method of a quadruped robot with an operation arm, including: obtaining current pose information of the legged mobile manipulator; decomposing a task into subtasks, and prioritizing the subtasks; based on the pose information and a dynamic model, generating a motion trajectory under each subtask; based on the dynamic model, optimizing an optimal plantar force of a supporting leg and an end-of-arm force under each subtask; based on a multi-task spatial projection method, calculating desired control quantity of all joints under different subtasks; and (d) optimizing the optimal plantar force and the desired control quantity with the whole-body dynamic model as a constraint to obtain control torques; and based on the control torques, controlling the legged mobile manipulator's motion. A control system is further provided.


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    Titel :

    MOBILE MANIPULATION CONTROL METHOD AND SYSTEM OF QUADRUPED ROBOT WITH OPERATION ARM


    Beteiligte:
    RONG XUEWEN (Autor:in) / XIE AIZHEN (Autor:in) / CHEN TENG (Autor:in) / ZHANG GUOTENG (Autor:in) / LI YIBIN (Autor:in) / LU GUANGLIN (Autor:in) / BI JIAN (Autor:in) / FAN YONG (Autor:in)

    Erscheinungsdatum :

    05.10.2023


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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