A Motion Planning Approach for Nonprehensile Manipulation and Locomotion Tasks of a Legged Robot

Nonprehensile manipulation produces underconstraint motions that are sensitive to environmental dynamics. Legged locomotion constitutes a floating-based movement, whose dynamic is underactuated with respect to the inertial frame. When these two tasks are combined, system motion planning and control...

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Bibliographic Details
Published in:IEEE transactions on robotics 2020-06, Vol.36 (3), p.855-874
Main Authors: Zhang, Guoteng, Ma, Shugen, Shen, Yayi, Li, Yibin
Format: Article
Language:English
Subjects:
Acceleration
Computer simulation
Dynamic models
Dynamics
Force
Legged locomotion
Legged robot
Locomotion
Motion planning
nonprehensile manipulation
Physical tests
Planning
Robot control
Robot dynamics
Robots
Task analysis
Task complexity
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Summary:Nonprehensile manipulation produces underconstraint motions that are sensitive to environmental dynamics. Legged locomotion constitutes a floating-based movement, whose dynamic is underactuated with respect to the inertial frame. When these two tasks are combined, system motion planning and control are complex due to their inherent underactuated features. This article presents a motion planning framework for a legged robot that uses its limbs for nonprehensile manipulation, as well as locomoting motions. First, issues related to the description of the robot-object-environment system and the task are presented. The velocity constraint that prevents separation and the force constraint that restricts interactive forces are then integrated into the system dynamic model to produce bounds on the system acceleration as a function of the system state. Then, we solve the motion planning problem by reducing the system dimensions in operational space and programming feasible trajectories within the phase plane. This approach is employed to control the quadruped robot TITAN-VIII to manipulate objects and locomote itself using Drive Mode , Inchworm Mode , Scoot Mode , and Throw Mode . Experimental results obtained through simulations and physical tests are reported to demonstrate the effectiveness of our approach.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2019.2961049