US 11,813,752 B2
Mobile manipulation control method and system of quadruped robot with operation arm
Xuewen Rong, Jinan (CN); Aizhen Xie, Jinan (CN); Teng Chen, Jinan (CN); Guoteng Zhang, Jinan (CN); Yibin Li, Jinan (CN); Guanglin Lu, Jinan (CN); Jian Bi, Jinan (CN); and Yong Fan, Jinan (CN)
Assigned to Shandong University, Jinan (CN)
Filed by Shandong University, Jinan (CN)
Filed on Jun. 6, 2023, as Appl. No. 18/329,674.
Claims priority of application No. 202210636165.2 (CN), filed on Jun. 7, 2022.
Prior Publication US 2023/0311320 A1, Oct. 5, 2023
Int. Cl. B25J 9/16 (2006.01); B62D 57/032 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/162 (2013.01); B62D 57/032 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A mobile manipulation control method of a legged mobile manipulator, comprising:
(a) obtaining current pose information of the legged mobile manipulator;
(b) decomposing a task received by the legged mobile manipulator into a plurality of subtasks, and prioritizing the plurality of subtasks; and based on the current pose information and a dynamic model, generating a whole-body motion trajectory of the legged mobile manipulator for each of the plurality of subtasks; wherein the dynamic model combines a whole-body dynamic model based on all degrees of freedom of the legged mobile manipulator and a simplified centroid dynamic model; and an arm compensation term is introduced into the simplified centroid dynamic model;
(c) based on the dynamic model, finding an optimal plantar force of a supporting leg and an optimal end-of-arm force under each of the plurality of subtasks; and based on a multi-task space projection method, calculating a desired control amount of each of joints of the legged mobile manipulator under the plurality of subtasks; and
(d) with the whole-body dynamic model as a constraint, optimizing the optimal plantar force and the desired control amount to obtain control torques of the joints of the legged mobile manipulator, wherein the joints of the legged mobile manipulator comprise an arm joint; and based on the control torques, controlling motion of the legged mobile manipulator;
wherein the simplified centroid dynamic model is expressed as follows:

OG Complex Work Unit Math
wherein m is body's gravity of the legged mobile manipulator; pcomd is a linear acceleration at a center of mass of a body of the legged mobile manipulator; wbd is an angular acceleration; fi is a contact force between the supporting leg and ground; fe,arm is an interaction force between an arm end and a manipulation object; ri* is a vector from a contact point between the supporting leg and the ground to the center of mass of the body; the arm compensation term comprises an equivalent force fc,arm and an equivalent torque nc,arm; and I is an inertia tensor of the body of the legged mobile manipulator.