High degree-of-freedom dynamic manipulation
2012
The creation of high degree of freedom dynamic mobile manipulation techniques and behaviors will allow robots to
accomplish difficult tasks in the field. We are investigating the use of the body and legs of legged robots to improve the
strength, velocity, and workspace of an integrated manipulator to accomplish dynamic manipulation. This is an
especially challenging task, as all of the degrees of freedom are active at all times, the dynamic forces generated are
high, and the legged system must maintain robust balance throughout the duration of the tasks. To accomplish this goal,
we are utilizing trajectory optimization techniques to generate feasible open-loop behaviors for our 28 dof quadruped
robot (BigDog) by planning the trajectories in a 13 dimensional space. Covariance Matrix Adaptation techniques are
utilized to optimize for several criteria such as payload capability and task completion speed while also obeying
constraints such as torque and velocity limits, kinematic limits, and center of pressure location. These open-loop
behaviors are then used to generate feed-forward terms, which are subsequently used online to improve tracking and
maintain low controller gains. Some initial results on one of our existing balancing quadruped robots with an additional
human-arm-like manipulator are demonstrated on robot hardware, including dynamic lifting and throwing of heavy
objects 16.5kg cinder blocks, using motions that resemble a human athlete more than typical robotic motions. Increased
payload capacity is accomplished through coordinated body motion.
Keywords:
- Correction
- Source
- Cite
- Save
- Machine Reading By IdeaReader
0
References
6
Citations
NaN
KQI