Mobile manipulation control method and system of quadruped robot with operation arm
US11813752B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 6, 2023 |
| Grant date | Nov 14, 2023 |
| Priority date | — |
| Expiry date | Jun 6, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40298
- WIPO fieldHandling
- WIPO sectorMechanical engineering
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.