
Proceedings Paper
Dynamic whole-body robotic manipulationFormat | Member Price | Non-Member Price |
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Paper Abstract
The creation of dynamic manipulation behaviors for high degree of freedom, mobile robots will allow them to
accomplish increasingly difficult tasks in the field. We are investigating how the coordinated use of the body, legs, and
integrated manipulator, on a mobile robot, can improve the strength, velocity, and workspace when handling heavy
objects. We envision that such a capability would aid in a search and rescue scenario when clearing obstacles from a
path or searching a rubble pile quickly. Manipulating heavy objects is especially challenging because the dynamic forces
are high and a legged system must coordinate all its degrees of freedom to accomplish tasks while maintaining balance.
To accomplish these types of manipulation tasks, we use trajectory optimization techniques to generate feasible open-loop
behaviors for our 28 dof quadruped robot (BigDog) by planning trajectories in a 13 dimensional space. We apply
the Covariance Matrix Adaptation (CMA) algorithm to solve for trajectories that optimize task performance while also
obeying important constraints such as torque and velocity limits, kinematic limits, and center of pressure location. These
open-loop behaviors are then used to generate desired feed-forward body forces and foot step locations, which enable
tracking on the robot. Some hardware results for cinderblock throwing are demonstrated on the BigDog quadruped
platform augmented with a human-arm-like manipulator. The results are analogous to how a human athlete maximizes
distance in the discus event by performing a precise sequence of choreographed steps.
Paper Details
Date Published: 17 May 2013
PDF: 11 pages
Proc. SPIE 8741, Unmanned Systems Technology XV, 87410V (17 May 2013); doi: 10.1117/12.2016000
Published in SPIE Proceedings Vol. 8741:
Unmanned Systems Technology XV
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Grant R. Gerhart, Editor(s)
PDF: 11 pages
Proc. SPIE 8741, Unmanned Systems Technology XV, 87410V (17 May 2013); doi: 10.1117/12.2016000
Show Author Affiliations
Yeuhi Abe, Boston Dynamics (United States)
Benjamin Stephens, Boston Dynamics (United States)
Benjamin Stephens, Boston Dynamics (United States)
Published in SPIE Proceedings Vol. 8741:
Unmanned Systems Technology XV
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Grant R. Gerhart, Editor(s)
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