Prioritized Multi-task Motion Coordination of Physically Constrained Quadruped Manipulators
Quadruped manipulators can use legs to mimic legged animals for crossing unstructured environments. They can also use a bionic arm to execute manipulation tasks. The increasing demands for such robots have pushed research progress. However, there remain challenging works in their usage of a high deg...
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| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
American Association for the Advancement of Science (AAAS)
2025-01-01
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| Series: | Cyborg and Bionic Systems |
| Online Access: | https://spj.science.org/doi/10.34133/cbsystems.0203 |
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| _version_ | 1849718575111077888 |
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| author | Aizhen Xie Xuewen Rong Guoteng Zhang Yibin Li Yong Fan Zhi Li Teng Chen |
| author_facet | Aizhen Xie Xuewen Rong Guoteng Zhang Yibin Li Yong Fan Zhi Li Teng Chen |
| author_sort | Aizhen Xie |
| collection | DOAJ |
| description | Quadruped manipulators can use legs to mimic legged animals for crossing unstructured environments. They can also use a bionic arm to execute manipulation tasks. The increasing demands for such robots have pushed research progress. However, there remain challenging works in their usage of a high degree of freedom. To solve this redundant problem, we propose a novel motion coordination framework based on multi-task prioritization and null-space projection. The framework can adaptively generate optimal motion for different parts of the robot considering 3 prioritized tasks. The tasks include end-effector trajectory tracking, motion redistribution to meet physical constraints, and manipulability enhancement. The motion is then executed by a whole-body controller incorporating dynamics, inverse kinematics, multiobjective priorities, and force constraints. Experiments both in simulation and on the robot platform validate the advantages and effectiveness of the algorithm. The robot can finish robust and accurate operational space end-effector tracking with errors less than 3 cm. |
| format | Article |
| id | doaj-art-b648468c94564a3ca1cbddb486a841f5 |
| institution | DOAJ |
| issn | 2692-7632 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | American Association for the Advancement of Science (AAAS) |
| record_format | Article |
| series | Cyborg and Bionic Systems |
| spelling | doaj-art-b648468c94564a3ca1cbddb486a841f52025-08-20T03:12:20ZengAmerican Association for the Advancement of Science (AAAS)Cyborg and Bionic Systems2692-76322025-01-01610.34133/cbsystems.0203Prioritized Multi-task Motion Coordination of Physically Constrained Quadruped ManipulatorsAizhen Xie0Xuewen Rong1Guoteng Zhang2Yibin Li3Yong Fan4Zhi Li5Teng Chen6School of Artificial Intelligence, Shandong University, Jinan 250300, China.School of Control Science and Engineering, Shandong University, Jinan 250061, China.School of Control Science and Engineering, Shandong University, Jinan 250061, China.School of Control Science and Engineering, Shandong University, Jinan 250061, China.School of Rail Transportation, Shandong Jiaotong University, Jinan 250357, China.Shandong Youbaote Intelligent Robotics Co., Ltd., Jinan 250032, China.School of Control Science and Engineering, Shandong University, Jinan 250061, China.Quadruped manipulators can use legs to mimic legged animals for crossing unstructured environments. They can also use a bionic arm to execute manipulation tasks. The increasing demands for such robots have pushed research progress. However, there remain challenging works in their usage of a high degree of freedom. To solve this redundant problem, we propose a novel motion coordination framework based on multi-task prioritization and null-space projection. The framework can adaptively generate optimal motion for different parts of the robot considering 3 prioritized tasks. The tasks include end-effector trajectory tracking, motion redistribution to meet physical constraints, and manipulability enhancement. The motion is then executed by a whole-body controller incorporating dynamics, inverse kinematics, multiobjective priorities, and force constraints. Experiments both in simulation and on the robot platform validate the advantages and effectiveness of the algorithm. The robot can finish robust and accurate operational space end-effector tracking with errors less than 3 cm.https://spj.science.org/doi/10.34133/cbsystems.0203 |
| spellingShingle | Aizhen Xie Xuewen Rong Guoteng Zhang Yibin Li Yong Fan Zhi Li Teng Chen Prioritized Multi-task Motion Coordination of Physically Constrained Quadruped Manipulators Cyborg and Bionic Systems |
| title | Prioritized Multi-task Motion Coordination of Physically Constrained Quadruped Manipulators |
| title_full | Prioritized Multi-task Motion Coordination of Physically Constrained Quadruped Manipulators |
| title_fullStr | Prioritized Multi-task Motion Coordination of Physically Constrained Quadruped Manipulators |
| title_full_unstemmed | Prioritized Multi-task Motion Coordination of Physically Constrained Quadruped Manipulators |
| title_short | Prioritized Multi-task Motion Coordination of Physically Constrained Quadruped Manipulators |
| title_sort | prioritized multi task motion coordination of physically constrained quadruped manipulators |
| url | https://spj.science.org/doi/10.34133/cbsystems.0203 |
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