Shandong University

Aizhen Xie

Yibin Li

Guanglin Lu

Teng Chen

Xuewen Rong

Jian Bi

Guoteng Zhang

Yong Fan

A mobile manipulation control method of a quadruped robot with an operation arm, including: obtaining current pose information of the legged mobile manipulator; decomposing a task into subtasks, and prioritizing the subtasks; based on the pose information and a dynamic model, generating a motion trajectory under each subtask; based on the dynamic model, optimizing an optimal plantar force of a supporting leg and an end-of-arm force under each subtask; based on a multi-task spatial projection method, calculating desired control quantity of all joints under different subtasks; and (d) optimizing the optimal plantar force and the desired control quantity with the whole-body dynamic model as a constraint to obtain control torques; and based on the control torques, controlling the legged mobile manipulator's motion. A control system is further provided.

Mobile manipulation control method and system of quadruped robot with operation arm

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Jinan, China

Aizhen Xie