The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Nov. 14, 2023
Filed:
Jun. 06, 2023
Shandong University, Jinan, CN;
Xuewen Rong, Jinan, CN;
Aizhen Xie, Jinan, CN;
Teng Chen, Jinan, CN;
Guoteng Zhang, Jinan, CN;
Yibin Li, Jinan, CN;
Guanglin Lu, Jinan, CN;
Jian Bi, Jinan, CN;
Yong Fan, Jinan, CN;
Shandong University, Jinan, CN;
Abstract
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.