Li, J, Gao, H, Wan, Y et al. (4 more authors) (2022) Whole-Body Control for a Torque-Controlled Legged Mobile Manipulator. Actuators, 11 (11). 304. p. 304. ISSN 2076-0825
Abstract
The task of performing locomotion and manipulation simultaneously poses several scientific challenges, such as how to deal with the coupling effects between them and how to cope with unknown disturbances introduced by manipulation. This paper presents an inverse dynamics-based whole-body controller for a torque-controlled quadrupedal manipulator capable of performing locomotion while executing manipulation tasks. Unlike existing methods that deal with locomotion and manipulation separately, the proposed controller can handle them uniformly, which can take into account the coupling effects between the base, limbs and manipulated object. The controller tracks the desired task–space motion references based on a hierarchical optimization algorithm, given a set of hierarchies that define strict priorities and the importance of weighting each task within a hierarchy. The simulation results show the robot is able to follow multiple task–space motion reference trajectories with reasonable deviation, which proved the effectiveness of the proposed controller.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2022 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
Keywords: | legged mobile manipulator; motion planning; whole-body control |
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: | Funder Grant number Innovate UK fka Technology Strategy Board (TSB) Not Known EPSRC (Engineering and Physical Sciences Research Council) EP/V026801/1 |
Depositing User: | Symplectic Publications |
Date Deposited: | 26 Oct 2022 12:39 |
Last Modified: | 18 Nov 2022 09:47 |
Status: | Published |
Publisher: | MDPI |
Identification Number: | 10.3390/act11110304 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:192515 |