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A Lightweight Manipulator Design for Quadruped Robots and Stable Locomotion Control with the Manipulator

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Intelligent Robotics and Applications (ICIRA 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14271))

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Abstract

In order to enhance the manipulation capabilities of quadruped robots, numerous research have explored the integration of manipulators onto these robots. However, most manipulators encounter difficulties in harmonizing with quadruped robots, resulting in compromised locomotion performance. This paper addresses the challenge of stable locomotion and manipulation for quadruped robots equipped with manipulators. Firstly, a lightweight manipulator designed specifically for quadruped robots is introduced, featuring a generous working space and the capability to perform tasks such as torsion. Secondly, a hierarchical optimization-based whole-body control which mainly includes whole-body dynamics and trajectory tracking is proposed to enhance the stability of the quadruped robot in complex environments. Finally, the effectiveness of the proposed methodology is validated through physical prototype experiments.

This work was supported by the National Key Research Program of China 2018AAA0100103.

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Author information

Authors and Affiliations

  1. Beijing Institute of Technology, Beijing, 100081, China

    Zishang Ji, Botao Liu, Yurong Liu, Jiagui Zhong, Maosen Wang, Chunyu Hou, Yiwei Yang & Fei Meng

  2. Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing, 100081, China

    Botao Liu, Maosen Wang & Fei Meng

Authors
  1. Zishang Ji
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  2. Botao Liu
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  3. Yurong Liu
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  4. Jiagui Zhong
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  5. Maosen Wang
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  6. Chunyu Hou
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  7. Yiwei Yang
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  8. Fei Meng
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Corresponding author

Correspondence to Botao Liu .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, China

    Huayong Yang

  2. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  3. Zhejiang University, Hangzhou, China

    Jun Zou

  4. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  5. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  6. Zhejiang University, Hangzhou, China

    Geng Yang

  7. Zhejiang University, Hangzhou, China

    Xiaoping Ouyang

  8. Harbin Institute of Technology, Shenzhen, China

    Zhiyong Wang

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Ji, Z. et al. (2023). A Lightweight Manipulator Design for Quadruped Robots and Stable Locomotion Control with the Manipulator. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14271. Springer, Singapore. https://doi.org/10.1007/978-981-99-6495-6_48

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  • DOI: https://doi.org/10.1007/978-981-99-6495-6_48

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-6494-9

  • Online ISBN: 978-981-99-6495-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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