A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators

Risiglione, Mattia; Barasuol, Victor; Caldwell, Darwin G.; Semini, Claudio

doi:10.1109/iros47612.2022.9981895

Cited by 4 publications

(4 citation statements)

References 24 publications

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“…Finally, the values optimized by Equation (14) are mapped into joint torques using the whole‐body dynamics equation. For further details on the description of the constraints and the mapping into joint torques, see Risiglione et al (2022).…”

Section: Locomotion Controllermentioning

confidence: 99%

VERO: A vacuum‐cleaner‐equipped quadruped robot for efficient litter removal

Amatucci,

Turrisi,

Bratta

et al. 2024

Journal of Field Robotics

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Litter nowadays presents a significant threat to the equilibrium of many ecosystems. An example is the sea, where litter coming from coasts and cities via gutters, streets, and waterways, releases toxic chemicals and microplastics during its decomposition. Litter removal is often carried out manually by humans, which inherently lowers the amount of waste that can be effectively collected from the environment. In this paper, we present a novel quadruped robot prototype that, thanks to its natural mobility, is able to collect cigarette butts (CBs) autonomously, the second most common undisposed waste worldwide, in terrains that are hard to reach for wheeled and tracked robots. The core of our approach is a convolutional neural network for litter detection, followed by a time‐optimal planner for reducing the time needed to collect all the target objects. Precise litter removal is then performed by a visual‐servoing procedure which drives the nozzle of a vacuum cleaner that is attached to one of the robot legs on top of the detected CB. As a result of this particular position of the nozzle, we are able to perform the collection task without even stopping the robot's motion, thus greatly increasing the time‐efficiency of the entire procedure. Extensive tests were conducted in six different outdoor scenarios to show the performance of our prototype and method. To the best knowledge of the authors, this is the first time that such a design and method was presented and successfully tested on a legged robot.

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Section: Locomotion Controllermentioning

confidence: 99%

VERO: A vacuum‐cleaner‐equipped quadruped robot for efficient litter removal

Amatucci,

Turrisi,

Bratta

et al. 2024

Journal of Field Robotics

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“…As this study concentrates on aspects of robotic vision and motion planning, a more exhaustive discourse on the subject can be found in the original paper [19]. It is worth noting that similar QP formulations have also been employed for quadruped robots, as seen in the work by C. Mastalli et al [20] and M. Risiglione et al [21].…”

Section: Qp Formulationmentioning

confidence: 99%

Online Multi-Contact Motion Replanning for Humanoid Robots with Semantic 3D Voxel Mapping: ExOctomap

Tsuru,

Escande,

Kumagai

et al. 2023

Sensors

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This study introduces a rapid motion-replanning technique driven by a semantic 3D voxel mapping system, essential for humanoid robots to autonomously navigate unknown territories through online environmental sensing. Addressing the challenges posed by the conventional approach based on polygon mesh or primitive extraction for mapping, we adopt semantic voxel mapping, utilizing our innovative Extended-Octomap (ExOctomap). This structure archives environmental normal vectors, outcomes of Euclidean Cluster Extraction, and principal component analysis within an Octree structure, facilitating an O(log N) efficiency in semantic accessibility from a position query x∈R3. This strategy reduces the 6D contact pose search to simple 3D grid sampling. Moreover, voxel representation enables the search of collision-free trajectories online. Through experimental validation based on simulations and real robotic experiments, we demonstrate that our framework can efficiently adapt multi-contact motions across diverse environments, achieving near real-time planning speeds that range from 13.8 ms to 115.7 ms per contact.

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“…The presented controller integrates a mobile platform controller and a model-free arm controller combined with a payload estimation module. As a further study, a whole-body controller was developed for the quadrupedal robot HyQ equipped with a seven-DOF manipulator arm, which allows for the implementation of a Cartesian impedance control to coordinate tracking performance and desired compliance for the robot base and manipulator arm [11]. These two works show no demonstration of coordination between locomotion and manipulation.…”

Section: Introductionmentioning

confidence: 99%

“…These controllers formulate the tracking problem within an optimization setting to resolve the task redundancy and incorporate equality and inequality constraints. An ID-based WBC has been used to control a legged manipulator [11], and it is formulated as a single quadratic program (QP) problem to find the ground reaction forces to track the desired Cartesian acceleration of task-space motion references. Although it can resolve the task redundancy via adjusting task weights, it is inevitable that tasks of higher importance will still be affected by tasks of lower importance.…”

Section: Introductionmentioning

confidence: 99%

Whole-Body Control for a Torque-Controlled Legged Mobile Manipulator

Gao²,

Wan³

et al. 2022

Actuators

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The task of performing locomotion and manipulation simultaneously poses several scientific challenges, such as how to deal with the coupling effects between them and how to cope with unknown disturbances introduced by manipulation. This paper presents an inverse dynamics-based whole-body controller for a torque-controlled quadrupedal manipulator capable of performing locomotion while executing manipulation tasks. Unlike existing methods that deal with locomotion and manipulation separately, the proposed controller can handle them uniformly, which can take into account the coupling effects between the base, limbs and manipulated object. The controller tracks the desired task–space motion references based on a hierarchical optimization algorithm, given a set of hierarchies that define strict priorities and the importance of weighting each task within a hierarchy. The simulation results show the robot is able to follow multiple task–space motion reference trajectories with reasonable deviation, which proved the effectiveness of the proposed controller.

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A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators

Cited by 4 publications

References 24 publications

VERO: A vacuum‐cleaner‐equipped quadruped robot for efficient litter removal

VERO: A vacuum‐cleaner‐equipped quadruped robot for efficient litter removal

Online Multi-Contact Motion Replanning for Humanoid Robots with Semantic 3D Voxel Mapping: ExOctomap

Whole-Body Control for a Torque-Controlled Legged Mobile Manipulator

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