Generating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation

Ewen, Parker; Sleiman, Jean-Pierre; Chen, Yuxin; Lu, Wei-Chun; Hutter, Marco; Vasudevan, Ram

doi:10.1109/icra48506.2021.9561117

Cited by 14 publications

(2 citation statements)

References 27 publications

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“…Relying on online hierarchical optimization, ANYmal-B can perform reactive human-robot collaboration and body posture optimization to increase the manipulability of its onboard arm (Bellicoso et al, 2019). More recently, Ewen et al (2021) improved their work from immutable contact force to online optimized force trajectory to ensure dynamic feasibility and An onboard arm can be specialized to reach a large volume around the robot, which the legs could not easily reach without drastic morphological changes to the robot. In other words, if the arm is mounted on the top of the body and can rotate fully around a vertical axis, its actual workspace can approach a sphere and completely encompass the body of the robot.…”

Section: Frontiers In Mechanical Engineeringmentioning

confidence: 99%

Legged robots for object manipulation: A review

et al. 2023

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Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments, many legged platform demonstrations have also included “moving an object” as a way of doing tangible work. Legged robots can be designed to manipulate a particular type of object (e.g., a cardboard box, a soccer ball, or a larger piece of furniture), by themselves or collaboratively. The objective of this review is to collect and learn from these examples, to both organize the work done so far in the community and highlight interesting open avenues for future work. This review categorizes existing works into four main manipulation methods: object interactions without grasping, manipulation with walking legs, dedicated non-locomotive arms, and legged teams. Each method has different design and autonomy features, which are illustrated by available examples in the literature. Based on a few simplifying assumptions, we further provide quantitative comparisons for the range of possible relative sizes of the manipulated object with respect to the robot. Taken together, these examples suggest new directions for research in legged robot manipulation, such as multifunctional limbs, terrain modeling, or learning-based control, to support a number of new deployments in challenging indoor/outdoor scenarios in warehouses/construction sites, preserved natural areas, and especially for home robotics.

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Section: Frontiers In Mechanical Engineeringmentioning

confidence: 99%

Legged robots for object manipulation: A review

et al. 2023

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“…Different analyses have been developed, such as dynamic and stability and stability and application tasks as door opening [ 20 , 21 ]. Other studies focuses on the study of generated forces in pick and place task [ 22 ].…”

Section: Related Workmentioning

confidence: 99%

A Mixed-Reality Tele-Operation Method for High-Level Control of a Legged-Manipulator Robot

Ulloa

Domínguez

Cerro

et al. 2022

Sensors

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In recent years, legged (quadruped) robots have been subject of technological study and continuous development. These robots have a leading role in applications that require high mobility skills in complex terrain, as is the case of Search and Rescue (SAR). These robots stand out for their ability to adapt to different terrains, overcome obstacles and move within unstructured environments. Most of the implementations recently developed are focused on data collecting with sensors, such as lidar or cameras. This work seeks to integrate a 6DoF arm manipulator to the quadruped robot ARTU-R (A1 Rescue Tasks UPM Robot) by Unitree to perform manipulation tasks in SAR environments. The main contribution of this work is focused on the High-level control of the robotic set (Legged + Manipulator) using Mixed-Reality (MR). An optimization phase of the robotic set workspace has been previously developed in Matlab for the implementation, as well as a simulation phase in Gazebo to verify the dynamic functionality of the set in reconstructed environments. The first and second generation of Hololens glasses have been used and contrasted with a conventional interface to develop the MR control part of the proposed method. Manipulations of first aid equipment have been carried out to evaluate the proposed method. The main results show that the proposed method allows better control of the robotic set than conventional interfaces, improving the operator efficiency in performing robotic handling tasks and increasing confidence in decision-making. On the other hand, Hololens 2 showed a better user experience concerning graphics and latency time.

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