A survey of the development of quadruped robots: Joint configuration, dynamic locomotion control method and mobile manipulation approach

Chai, Hui; Li, Yibin; Song, Rui; Zhang, Guoteng; Zhang, Qin; Liu, Song; Hou, Jinmian; Xin, Yaxian; Yuan, Ming Yue; Yang, Zhen

doi:10.1016/j.birob.2021.100029

Cited by 25 publications

(15 citation statements)

References 41 publications

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“…For instance, quadrupeds, such as ANYmal in Fig. 2c, a four legged robot [2], [8], have the ability of traversing many different types of terrain that a wheeled robot cannot operate on. They also gain the ability to move in different ways, e.g., twist their body to unload a package on the ground.…”

Section: Arxiv:220811252v1 [Csro] 24 Aug 2022mentioning

confidence: 99%

“…The task is further complicated by the fact that unloading packages from a vehicle often specifies a different set of design criteria from dropping packages off at a desired location. As a result, combinations of robots with separate specialities are being explored, such as, manipulators on top of quadrupeds [1], [2] or manipulators cooperating with wheeled robots [3], [4]. These systems, though, come at a steep cost.…”

Section: Introductionmentioning

confidence: 99%

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Feasibility Study of LIMMS, A Multi-Agent Modular Robotic Delivery System with Various Locomotion and Manipulation Modes

Zhu¹,

Fernandez²,

Togashi³

et al. 2022

2022 19th International Conference on Ubiquitous Robots (UR)

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The logistics of transporting a package from a storage facility to the consumer's front door usually employs highly specialized robots often times splitting sub-tasks up to different systems, e.g., manipulator arms to sort and wheeled vehicles to deliver. More recent endeavors attempt to have a unified approach with legged and humanoid robots. These solutions, however, occupy large amounts of space thus reducing the number of packages that can fit into a delivery vehicle. As a result, these bulky robotic systems often reduce the potential for scalability and task parallelization. In this paper, we introduce LIMMS (Latching Intelligent Modular Mobility System) to address both the manipulation and delivery portion of a typical last-mile delivery while maintaining a minimal spatial footprint. LIMMS is a symmetrically designed, 6 degree of freedom (DoF) appendage-like robot with wheels and latching mechanisms at both ends. By latching onto a surface and anchoring at one end, LIMMS can function as a traditional 6-DoF manipulator arm. On the other hand, multiple LIMMS can latch onto a single box and behave like a legged robotic system where the package is the body. During transit, LIMMS folds up compactly and takes up much less space compared to traditional robotic systems. A large group of LIMMS units can fit inside of a single delivery vehicle, opening the potential for new delivery optimization and hybrid planning methods never done before. In this paper, the feasibility of LIMMS is studied and presented using a hardware prototype as well as simulation results for a range of sub-tasks in a typical last-mile delivery.

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Section: Arxiv:220811252v1 [Csro] 24 Aug 2022mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Feasibility Study of LIMMS, A Multi-Agent Modular Robotic Delivery System with Various Locomotion and Manipulation Modes

Zhu¹,

Fernandez²,

Togashi³

et al. 2022

2022 19th International Conference on Ubiquitous Robots (UR)

View full text Add to dashboard Cite

show abstract

“…Interests in research and good dynamic locomotion performance of the legged robots have been increasing in recent years. 1 –3…”

Section: Introductionmentioning

confidence: 99%

“…Interests in research and good dynamic locomotion performance of the legged robots have been increasing in recent years. [1][2][3] The quadruped robots are the best choice among all legged robots related to mobility and stability of locomotion. BigDog can walk up and down on a slope, trot at a fast pace, carry a heavy payload, walk through forest and snow, and make decisions about whether to go left or right around a tree like animals.…”

Section: Introductionmentioning

confidence: 99%

Dynamic stability analyzes for a parallel–serial legged quadruped robot

Gao

2022

International Journal of Advanced Robotic Systems

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One of the basic characteristics of the walking robots is the maintenance of their dynamic balance during the walk, and the stability of legged robots in locomotion is necessary. In the past few years, the dynamics of legged robots was studied based on very simple or simplified leg structures. A more complete dynamic model is essential for the further research of a practical legged robot. As an important enrichment in stability study for a walking robot, a stability measure named as moment ratio stability margin is introduced, which takes all stability factors into formulation. The mechanical structure of a novel parallel–serial legged mechanism is introduced. Based on this structure, the performance of the proposed method is demonstrated. The advantages and practical significance of the proposed technique are illustrated by comparing it with conventional methods. The experimental study is carried out to evaluate and characterize the performances of this method.

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“…The development of specialized robots endowed with custom instrumentation to assist and provide information to their operators is possible thanks to the advances in robotics, communication and sensory systems, as well as technological development such as Virtual and Mixed-Reality. Quadrupedal robots have had great prominence in recent years in exploration tasks, over conventional locomotion robots (tracks or wheels) [ 1 ]; mainly due to their ability to move through unstructured terrain [ 2 , 3 ].…”

Section: Introductionmentioning

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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A survey of the development of quadruped robots: Joint configuration, dynamic locomotion control method and mobile manipulation approach

Cited by 25 publications

References 41 publications

Feasibility Study of LIMMS, A Multi-Agent Modular Robotic Delivery System with Various Locomotion and Manipulation Modes

Feasibility Study of LIMMS, A Multi-Agent Modular Robotic Delivery System with Various Locomotion and Manipulation Modes

Dynamic stability analyzes for a parallel–serial legged quadruped robot

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

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