ALMA - Articulated Locomotion and Manipulation for a Torque-Controllable Robot
Abstract
The task of robotic mobile manipulation poses several scientific challenges that need to be addressed to execute complex manipulation tasks in unstructured environments, in which collaboration with humans might be required. Therefore, we present ALMA, a motion planning and control framework for a torque-controlled quadrupedal robot equipped with a six degrees of freedom robotic arm capable of performing dynamic locomotion while executing manipulation tasks. The online motion planning framework, together with a whole-body controller based on a hierarchical optimization algorithm, enables the system to walk, trot and pace while executing operational space end-effector control, reactive human-robot collaboration and torso posture optimization to increase the arm’s workspace. The torque control of the whole system enables the implementation of compliant behavior, allowing a user to safely interact with the robot. We verify our framework on the real robot by performing tasks such as opening a door and carrying a payload together with a human. Show more
Permanent link
https://doi.org/10.3929/ethz-b-000324042Publication status
publishedExternal links
Book title
2019 International Conference on Robotics and Automation (ICRA)Pages / Article No.
Publisher
IEEEEvent
Subject
RSL; Legged Robotics; Locomotion; Manipulation; Optimal Control; Whole-Body ControlOrganisational unit
09570 - Hutter, Marco / Hutter, Marco
02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
More
Show all metadata