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.
MOBILE MANIPULATION CONTROL METHOD AND SYSTEM OF QUADRUPED ROBOT WITH OPERATION ARM
2023-10-05
Patent
Electronic Resource
English
Mobile manipulation control method and system of quadruped robot with operation arm
European Patent Office | 2023
|Remotely-controlled multifunctional quadruped robot and operation method
European Patent Office | 2020
|