A robot system (400) includes: an upper body section (408b) including one or more end-effectors (422, 424); a lower body section (408a) including one or more legs (404, 406); and an intermediate body section (408c) coupling the upper and lower body sections. An upper body control system (417b) operates at least one of the end-effectors. The intermediate body section experiences a first intermediate body linear force and/or moment based on an end-effector force acting on the at least one end-effector. A lower body control system operates (417a) the one or more legs. The legs experience respective surface reaction forces. The intermediate body section experiences a second intermediate body linear force and/or moment based on the surface reaction forces. The one or more legs operate so that the second intermediate body linear force balances the first intermediate linear force and the second intermediate body moment balances the first intermediate body moment.
WHOLE BODY MANIPULATION ON A LEGGED ROBOT USING DYNAMIC BALANCE
GANZKÖRPERMANIPULATION BEI EINEM MIT BEINEN AUSGESTATTETEN ROBOTER MIT DYNAMISCHEM GLEICHGEWICHT
MANIPULATION DE CORPS ENTIER SUR UN ROBOT À JAMBES EN UTILISANT L'ÉQUILIBRE DYNAMIQUE
2023-11-22
Patent
Electronic Resource
English
Whole body manipulation on a legged robot using dynamic balance
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