Towards a multi-legged mobile manipulator

Rehman, Bilal Ur; Focchi, Michele; Lee, Jinoh; Dallali, Houman; Caldwell, Darwin G.; Semini, Claudio

doi:10.1109/icra.2016.7487545

Cited by 66 publications

(35 citation statements)

References 13 publications

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“…In 2015, IIT's HyQ robot 15 was equipped with the new hydraulic manipulator HyArm 16 to create a multi-legged mobile manipulator. 17 This robot is fully torque-controlled and has 18 hydraulically-actuated DoFs. A picture of HyQ with the HyArm is shown in Fig.…”

Section: Hyq -Multi-legged Mobile Manipulatormentioning

confidence: 99%

“…This additional weight in front of the robot can negatively affect the robot's balance since the CoM of the quadruped is shifted to the front. Rehman et al 17 proposed a new control framework to address this problem by optimizing the Ground Reaction Forces (GRFs) of the quadruped and coping with external/internal disturbances created by the manipulator.…”

Section: Hyq -Multi-legged Mobile Manipulatormentioning

confidence: 99%

See 1 more Smart Citation

Centaur Robots - A Survey

Rehman¹,

Caldwell²,

Semini³

2017

Human-Centric Robotics

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Recent developments in the field of multi-legged mobile manipulators encouraged researcher to develop new robotic platforms combining the locomotion stability of multi-legged robots with manipulation capabilities. This paper provides an extensive bibliography that can be of help to researchers interested in further studying and designing centaur-like robots. A centaur is a mythological creature with the upper body of a human and lower body of a horse. Similar to the centaur, half-human and half-horse composition in robotics can be exploited to achieve stability and manipulation capabilities.

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Section: Hyq -Multi-legged Mobile Manipulatormentioning

confidence: 99%

Section: Hyq -Multi-legged Mobile Manipulatormentioning

confidence: 99%

Centaur Robots - A Survey

Rehman¹,

Caldwell²,

Semini³

2017

Human-Centric Robotics

Self Cite

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“…Various similar solutions have been explored over the past few years [4]. The quadrupedal robot HyQ [5] is equipped with a six DOF arm and demonstrates a static walking gait while tracking motions of the arm. The authors propose a controller which takes into account internal and external disturbances created by the manipulator by optimizing for the ground reaction forces.…”

Section: Introductionmentioning

confidence: 99%

ALMA - Articulated Locomotion and Manipulation for a Torque-Controllable Robot

Bellicoso

Krämer

Stäuble

et al. 2019

2019 International Conference on Robotics and Automation (ICRA)

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We present a motion planning and control framework for ALMA, a torque-controlled quadrupedal robot equipped with a six degrees of freedom robotic arm capable of performing dynamic locomotion while executing manipulation tasks. The online motion planning framework, together with a whole-body controller based on a hierarchical optimization algorithm, enable the system to walk, trot and pace while executing tasks such as fixed-position end-effector control, reactive human-robot collaboration and torso posture optimization to increase the arm's kinematic reachability. The torque controllability of the whole system enables the implementation of compliant behavior, allowing a user to safely interact with the robot in a very natural way. We verify our framework on the real robot by performing tasks such as opening a door and carrying a payload together with a human.

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“…In general, wheeled mobile robots can traverse relatively flat terrain [2], but they move over rough terrain with difficulty. Legged robots can walk autonomously on uneven and heterogeneous terrain, but they may be instable when moving fast [3]. Crawler robots can traverse irregular environment, while they are often cumbersome and have poor flexibility [4].…”

Section: Introductionmentioning

confidence: 99%

Dynamical Modelling and a Decentralized Adaptive Controller for a 12-Tetrahedral Rolling Robot

Wang

Zhang

2018

TFAMENA

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SummaryThe 12-tetrahedral robot is an addressable reconfigurable technology (ART)-based variable geometry truss mechanism with twenty-six extensible struts and nine nodes arranged in a tetrahedral mesh. The robot has the capability of reconfiguring shape and dimension for environment sensing requirements, which makes it suitable for space exploration and environmental perception. In this paper, we have derived a dynamics model and presented a decentralized adaptive controller for a 12-tetrahedral robot. First, the robot is divided into the node and the strut subsystems, and the kinetic and the potential energy are calculated for the two subsystems. Then, the dynamics model is achieved by applying the Lagrangian formalism on the total energy of the robot. Since the dynamics is too complicated for implementing model-based controllers, a two-layer controller is presented to control the robot, in which the planning layer determines gait and trajectory of the robot, and the executive layer adopts the decentralized adaptive control strategy and consists of twenty-six strut controllers. Each strut controller regulates the movement of the corresponding strut without information exchange with other struts. Co-simulations based on ADAMS and Matlab have been conducted to verify the feasibility and effectiveness of the proposed controller.

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Towards a multi-legged mobile manipulator

Cited by 66 publications

References 13 publications

Centaur Robots - A Survey

Centaur Robots - A Survey

ALMA - Articulated Locomotion and Manipulation for a Torque-Controllable Robot

Dynamical Modelling and a Decentralized Adaptive Controller for a 12-Tetrahedral Rolling Robot

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