标题：Dynamic Modelling and Motion Planning for the Nonprehensile Manipulation and Locomotion Tasks of the Quadruped Rsbot∗This work is supported by the project of Robotics Innovation Based on Advanced Materials under Ritsumeikan Global Innovation Research Organization (R-GIRO)
作者：Zhang, Guoteng ;Ma, Shugen ;Li, Yibin
作者机构：[Zhang, Guoteng ] Ritsumeikan University, Ritsumeikan Global Innovation Research Organization, Shiga, Japan;[Li, Yibin ] Shandong University, School o 更多
会议名称：2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
会议日期：1 October 2018 through 5 October 2018
来源：IEEE International Conference on Intelligent Robots and Systems
摘要：This paper presents the dynamic modelling and motion planning method for a quadruped robot that uses its legs for nonprehensile manipulation as well as locomotion. Three different working modes named Drive Mode, Inchworm Mode and Scoot Mode are proposed to enable the robot to move forward together with the object. We firstly introduce a universal model for these modes and deduce its dynamic equation. Then the contact force constraints are combined and mapped to the system state variables. Based on the acquired state acceleration constraints, the motion planning problem can be solved by designing system state paths in the phase space. After that, we described the mathematical problems within the three working modes and generate the robot motions accordingly. Finally, experimental results obtained through simulations and physical tests are reported to demonstrate the effectiveness of our method. © 2018 IEEE.