@inproceedings{af5ba5cad8724e84b2d50f9d2897bda2,
title = "A Lightweight Manipulator Design for Quadruped Robots and Stable Locomotion Control with the Manipulator",
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.",
keywords = "Hierarchical Optimization, Locomotion, Manipulator, Quadruped Robot",
author = "Zishang Ji and Botao Liu and Yurong Liu and Jiagui Zhong and Maosen Wang and Chunyu Hou and Yiwei Yang and Fei Meng",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.; 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023 ; Conference date: 05-07-2023 Through 07-07-2023",
year = "2023",
doi = "10.1007/978-981-99-6495-6_48",
language = "English",
isbn = "9789819964949",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "565--576",
editor = "Huayong Yang and Honghai Liu and Jun Zou and Zhouping Yin and Lianqing Liu and Geng Yang and Xiaoping Ouyang and Zhiyong Wang",
booktitle = "Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings",
address = "Germany",
}