Reactive Task Allocation and Planning for Quadrupedal and Wheeled Robot Teaming

Zhou, Ziyi; Lee, Dong Jae; Yoshinaga, Yuki; Balakirsky, Stephen; Guo, Deyin; Zhao, Ye

doi:10.1109/case49997.2022.9926658

Cited by 13 publications

(2 citation statements)

References 34 publications

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“…They are widely used in dangerous environment detection, disaster rescue, and other non-direct contact environments. Especially the quadruped robot, such as ANYmal from ETH [1], the Laikago series, and Aliengo quadruped robot from Unitree [2], Jueying [3], and the Spot [4]/BigDog [5] from Boston Dynamics, are massive commercially sold.…”

Section: Introductionmentioning

confidence: 99%

A unified modeling and trajectory planning method based on system manipulability for the operation process of the legged locomotion manipulation system

Peng

Haibin

2023

Robotica

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Flexibility is one of the most significant advantages of legged robots in unstructured environments. However, quadruped robots cannot interact with environments to complete some manipulation tasks. One effective way is to load a manipulation arm. In this paper, we exhibit a quadruped locomotion manipulation system (LMS) named HITPhanT. This system comprises a quadruped locomotion platform and a six-degree-of-freedom manipulation arm. Besides, when the LMS moves to a designated position for operation, it is necessary to constrain the foot contact points to avoid sliding. Therefore, the foot contact point is regarded as a spherical hinge. So the locomotion platform can be considered as a parallel mechanism. A hybrid kinematics model is established by considering the serial robotic arms connecting this parallel mechanism. Besides, the trajectory planning method, which improves the system’s manipulability in evaluating the system balance, is also proposed. Finally, corresponding experiments verify the overall system’s stabilization and algorithm’s effectiveness.

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Section: Introductionmentioning

confidence: 99%

A unified modeling and trajectory planning method based on system manipulability for the operation process of the legged locomotion manipulation system

Peng

Haibin

2023

Robotica

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“…Nevertheless, to the author's knowledge, the use of behavior trees in legged and especially hybrid robot navigation is limited. The two relevant works in [19] and [20], mainly focused, respectively, on multi-robot task reallocation in case of failures and reactive push recovery, without directly addressing the challenge of autonomous navigation that also incorporates recovery methods in case of failures during the execution in cluttered environments.…”

mentioning

confidence: 99%

Autonomous Navigation With Online Replanning and Recovery Behaviors for Wheeled-Legged Robots Using Behavior Trees

De Luca,

Muratore,

Tsagarakis

2023

IEEE Robot. Autom. Lett.

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Performing autonomous navigation in cluttered and unstructured terrains still remains a challenging task for legged and wheeled mobile robots. To accomplish such a task, online planners shall incorporate new terrain information perceived while the robot is moving within its environment. While hybrid mobility robots offer high flexibility in traversing challenging terrains by leveraging the advantages of both wheeled and legged locomotion, the effective hybrid planning of the mobility actions that transparently combine both modes of locomotion has not been extensively explored.In this work, we present a hierarchical online hybrid primitivebased planner for autonomous navigation with wheeled-legged robots. The framework is handled by a Behavior Tree (BT) and it takes into account recovery methods to deal with possible failures during the execution of the navigation/mobility plan. The framework was evaluated in multiple irregular and heavily cluttered simulated environments randomly generated and in real-world trials, using the CENTAURO robot platform. With these experiments, we demonstrated autonomous capabilities without any human intervention, even in case of collision or planner failures.

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