Opening a Spring-Loaded Door with a Legged Manipulator
Title: Opening a Spring-Loaded Door with a Legged Manipulator
Authors: Jun Li (University of Leeds); Christopher Peers (University of Leeds); Songyan Xin (University of Leeds); Chengxu Zhou (University of Leeds);
Year: 2022
Citation: Li, J., Peers, C., Xin, S., Zhou, C., (2022). Opening a Spring-Loaded Door with a Legged Manipulator. UKRAS22 Conference “Robotics for Unconstrained Environments” Proceedings, 16-17. doi: 10.31256/To1Ke3E
Abstract:
Abstract—This paper outlines the process of opening a springloaded
door with a quadrupedal mobile manipulator. A Cartesian trajectory planner based on manifold interpolation is developed to provide designed base and gripper trajectories, and a whole-body controller based on the hierarchical inverse dynamics approach is implemented to enable the robot to cope with unknown external disturbances. The spring-loaded door opening
task is successfully achieved in simulation and robust interaction is established without creating undesired forces.