Li, J, Peers, C, Xin, S et al. (1 more author) (2022) Opening a Spring-Loaded Door with a Legged Manipulator. In: UKRAS22 Conference “Robotics for Unconstrained Environments” Proceedings. #UKRAS22: The 5th UK Robotics and Autonomous Systems Conference, 26 Aug 2022, Aberystwyth, UK. EPSRC UK-Robotics and Autonomous Systems (UK-RAS) Network , pp. 16-17.
Abstract
This paper outlines the process of opening a springloaded door with a quadrupedal mobile manipulator. A Cartesian trajectory planner based on manifold interpolation is developed to provide designed base and gripper trajectories, and a whole-body controller based on the hierarchical inverse dynamics approach is implemented to enable the robot to cope with unknown external disturbances. The spring-loaded door opening task is successfully achieved in simulation and robust interaction is established without creating undesired forces.
Metadata
Item Type: | Proceedings Paper | ||||||
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | This is an author produced version of a conference paper published in UKRAS22 Conference “Robotics for Unconstrained Environments” Proceedings. | ||||||
Keywords: | legged manipulator; whole-body control; quadruped robots; spring-loaded door opening | ||||||
Dates: |
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Institution: | The University of Leeds | ||||||
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) | ||||||
Funding Information: |
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Depositing User: | Symplectic Publications | ||||||
Date Deposited: | 12 Aug 2022 10:55 | ||||||
Last Modified: | 19 Mar 2024 15:24 | ||||||
Status: | Published | ||||||
Publisher: | EPSRC UK-Robotics and Autonomous Systems (UK-RAS) Network | ||||||
Identification Number: | https://doi.org/10.31256/To1Ke3E |