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

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

doi:10.1007/978-981-99-6495-6_48

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

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

^*Corresponding author for this work

School of Mechatronical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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.

Original language	English
Title of host publication	Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings
Editors	Huayong Yang, Honghai Liu, Jun Zou, Zhouping Yin, Lianqing Liu, Geng Yang, Xiaoping Ouyang, Zhiyong Wang
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	565-576
Number of pages	12
ISBN (Print)	9789819964949
DOIs	https://doi.org/10.1007/978-981-99-6495-6_48
Publication status	Published - 2023
Event	16th International Conference on Intelligent Robotics and Applications, ICIRA 2023 - Hangzhou, China Duration: 5 Jul 2023 → 7 Jul 2023

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	14271 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	16th International Conference on Intelligent Robotics and Applications, ICIRA 2023
Country/Territory	China
City	Hangzhou
Period	5/07/23 → 7/07/23

Keywords

Hierarchical Optimization
Locomotion
Manipulator
Quadruped Robot

Access to Document

10.1007/978-981-99-6495-6_48

Cite this

Ji, Z., Liu, B., Liu, Y., Zhong, J., Wang, M., Hou, C., Yang, Y., & Meng, F. (2023). A Lightweight Manipulator Design for Quadruped Robots and Stable Locomotion Control with the Manipulator. In H. Yang, H. Liu, J. Zou, Z. Yin, L. Liu, G. Yang, X. Ouyang, & Z. Wang (Eds.), Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings (pp. 565-576). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 14271 LNAI). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-99-6495-6_48

Ji, Zishang ; Liu, Botao ; Liu, Yurong et al. / A Lightweight Manipulator Design for Quadruped Robots and Stable Locomotion Control with the Manipulator. Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. editor / Huayong Yang ; Honghai Liu ; Jun Zou ; Zhouping Yin ; Lianqing Liu ; Geng Yang ; Xiaoping Ouyang ; Zhiyong Wang. Springer Science and Business Media Deutschland GmbH, 2023. pp. 565-576 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

@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",

}

Ji, Z, Liu, B, Liu, Y, Zhong, J, Wang, M, Hou, C, Yang, Y & Meng, F 2023, A Lightweight Manipulator Design for Quadruped Robots and Stable Locomotion Control with the Manipulator. in H Yang, H Liu, J Zou, Z Yin, L Liu, G Yang, X Ouyang & Z Wang (eds), Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 14271 LNAI, Springer Science and Business Media Deutschland GmbH, pp. 565-576, 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023, Hangzhou, China, 5/07/23. https://doi.org/10.1007/978-981-99-6495-6_48

A Lightweight Manipulator Design for Quadruped Robots and Stable Locomotion Control with the Manipulator. / Ji, Zishang; Liu, Botao; Liu, Yurong et al.
Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. ed. / Huayong Yang; Honghai Liu; Jun Zou; Zhouping Yin; Lianqing Liu; Geng Yang; Xiaoping Ouyang; Zhiyong Wang. Springer Science and Business Media Deutschland GmbH, 2023. p. 565-576 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 14271 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A Lightweight Manipulator Design for Quadruped Robots and Stable Locomotion Control with the Manipulator

AU - Ji, Zishang

AU - Liu, Botao

AU - Liu, Yurong

AU - Zhong, Jiagui

AU - Wang, Maosen

AU - Hou, Chunyu

AU - Yang, Yiwei

AU - Meng, Fei

N1 - Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

PY - 2023

Y1 - 2023

N2 - 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.

AB - 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.

KW - Hierarchical Optimization

KW - Locomotion

KW - Manipulator

KW - Quadruped Robot

UR - http://www.scopus.com/inward/record.url?scp=85176005239&partnerID=8YFLogxK

U2 - 10.1007/978-981-99-6495-6_48

DO - 10.1007/978-981-99-6495-6_48

M3 - Conference contribution

AN - SCOPUS:85176005239

SN - 9789819964949

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 565

EP - 576

BT - Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings

A2 - Yang, Huayong

A2 - Liu, Honghai

A2 - Zou, Jun

A2 - Yin, Zhouping

A2 - Liu, Lianqing

A2 - Yang, Geng

A2 - Ouyang, Xiaoping

A2 - Wang, Zhiyong

PB - Springer Science and Business Media Deutschland GmbH

T2 - 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023

Y2 - 5 July 2023 through 7 July 2023

ER -

Ji Z, Liu B, Liu Y, Zhong J, Wang M, Hou C et al. A Lightweight Manipulator Design for Quadruped Robots and Stable Locomotion Control with the Manipulator. In Yang H, Liu H, Zou J, Yin Z, Liu L, Yang G, Ouyang X, Wang Z, editors, Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. Springer Science and Business Media Deutschland GmbH. 2023. p. 565-576. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-981-99-6495-6_48

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

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this