Whole-Body Synergy-Based Balance Control for Quadruped Robots with Manipulators on Sloped Terrains
A quadruped robot with a manipulator that combines dynamic motion and manipulation capabilities will greatly expand its application scenarios. However, the addition of the manipulator raises the center of mass of the quadruped robot, increasing complexity in motion control and posing new challenges...
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| Format: | Article |
| Language: | English |
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American Association for the Advancement of Science (AAAS)
2024-01-01
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| Series: | Cyborg and Bionic Systems |
| Online Access: | https://spj.science.org/doi/10.34133/cbsystems.0201 |
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| _version_ | 1850238644955119616 |
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| author | Ru Kang Huifeng Ning Fei Meng Zewen He |
| author_facet | Ru Kang Huifeng Ning Fei Meng Zewen He |
| author_sort | Ru Kang |
| collection | DOAJ |
| description | A quadruped robot with a manipulator that combines dynamic motion and manipulation capabilities will greatly expand its application scenarios. However, the addition of the manipulator raises the center of mass of the quadruped robot, increasing complexity in motion control and posing new challenges for maintaining balance on sloped terrains. To address this, a balance control method based on whole-body synergy is proposed in this study, emphasizing adaptive adjustment of the robot system’s overall balance through effective utilization of the manipulator’s active motion. By establishing a mapping relationship between the manipulator and the robot’s attitude angle under system equilibrium, the desired manipulator motion is guided by real-time estimates of terrain angles during motion, enhancing motion efficiency while ensuring robot balance. Furthermore, to enhance motion tracking accuracy, the optimization of system angular momentum and manipulator manipulability is incorporated into hierarchical optimization tasks, improving manipulator controllability and overall system performance. Simulation and experimental results demonstrate that the quadruped robot with a manipulator exhibits reduced velocity and attitude angle fluctuations, as well as smoother foot-end force dynamics during climbing motions with the addition of manipulator adaptive adjustment. These results validate the effectiveness and superiority of the manipulator-based adaptive adjustment strategy proposed in this paper. |
| format | Article |
| id | doaj-art-1ee1ed5c6c5e44b49e67ee690d8ec662 |
| institution | OA Journals |
| issn | 2692-7632 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | American Association for the Advancement of Science (AAAS) |
| record_format | Article |
| series | Cyborg and Bionic Systems |
| spelling | doaj-art-1ee1ed5c6c5e44b49e67ee690d8ec6622025-08-20T02:01:24ZengAmerican Association for the Advancement of Science (AAAS)Cyborg and Bionic Systems2692-76322024-01-01510.34133/cbsystems.0201Whole-Body Synergy-Based Balance Control for Quadruped Robots with Manipulators on Sloped TerrainsRu Kang0Huifeng Ning1Fei Meng2Zewen He3School of Mechanical and Electrical Engineering, Lanzhou University of Technology, Lanzhou 730050, China.School of Mechanical and Electrical Engineering, Lanzhou University of Technology, Lanzhou 730050, China.Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China.Department of Mechanical Engineering, University of Tokyo, Tokyo 113-8656, Japan.A quadruped robot with a manipulator that combines dynamic motion and manipulation capabilities will greatly expand its application scenarios. However, the addition of the manipulator raises the center of mass of the quadruped robot, increasing complexity in motion control and posing new challenges for maintaining balance on sloped terrains. To address this, a balance control method based on whole-body synergy is proposed in this study, emphasizing adaptive adjustment of the robot system’s overall balance through effective utilization of the manipulator’s active motion. By establishing a mapping relationship between the manipulator and the robot’s attitude angle under system equilibrium, the desired manipulator motion is guided by real-time estimates of terrain angles during motion, enhancing motion efficiency while ensuring robot balance. Furthermore, to enhance motion tracking accuracy, the optimization of system angular momentum and manipulator manipulability is incorporated into hierarchical optimization tasks, improving manipulator controllability and overall system performance. Simulation and experimental results demonstrate that the quadruped robot with a manipulator exhibits reduced velocity and attitude angle fluctuations, as well as smoother foot-end force dynamics during climbing motions with the addition of manipulator adaptive adjustment. These results validate the effectiveness and superiority of the manipulator-based adaptive adjustment strategy proposed in this paper.https://spj.science.org/doi/10.34133/cbsystems.0201 |
| spellingShingle | Ru Kang Huifeng Ning Fei Meng Zewen He Whole-Body Synergy-Based Balance Control for Quadruped Robots with Manipulators on Sloped Terrains Cyborg and Bionic Systems |
| title | Whole-Body Synergy-Based Balance Control for Quadruped Robots with Manipulators on Sloped Terrains |
| title_full | Whole-Body Synergy-Based Balance Control for Quadruped Robots with Manipulators on Sloped Terrains |
| title_fullStr | Whole-Body Synergy-Based Balance Control for Quadruped Robots with Manipulators on Sloped Terrains |
| title_full_unstemmed | Whole-Body Synergy-Based Balance Control for Quadruped Robots with Manipulators on Sloped Terrains |
| title_short | Whole-Body Synergy-Based Balance Control for Quadruped Robots with Manipulators on Sloped Terrains |
| title_sort | whole body synergy based balance control for quadruped robots with manipulators on sloped terrains |
| url | https://spj.science.org/doi/10.34133/cbsystems.0201 |
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