Whole Body Collaborative Planning Method for Legged Locomotion Manipulation System in Operation Process

Peng, Kang; Haibin, Meng; Lei, Yan; Xu, Wenfu

doi:10.1109/robio55434.2022.10011971

Search citation statements

Order By: Relevance

Paper Sections

Select...

Citation Types

Supporting

Mentioning

Contrasting

Year Published

2023

Publication Types

Select...

Book1

Article1

Relationship

Self Cite0

Independent2

Authors

Journals

Cited by 2 publications

References 19 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

A Review on Quadruped Manipulators

Lopes,

Moreira,

Silva

et al. 2023

Progress in Artificial Intelligence

View full text Add to dashboard Cite

A Review on Quadruped Manipulators

Lopes,

Moreira,

Silva

et al. 2023

Progress in Artificial Intelligence

View full text Add to dashboard Cite

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

View full text Add to dashboard Cite

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.

show abstract

Whole Body Collaborative Planning Method for Legged Locomotion Manipulation System in Operation Process

Cited by 2 publications

References 19 publications

A Review on Quadruped Manipulators

A Review on Quadruped Manipulators

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

Contact Info

Product

Resources

About