Network packet

Robot

Engineering

Biology

Motion planning

Torso

Control engineering

Systems engineering

Computer science

Robot control

Controller (irrigation)

Computer network

Thermodynamics

Physics

Torque

Motion control

Simulation

Task (project management)

Robot kinematics

Anatomy

Payload (computing)

Agronomy

Mobile robot

Artificial intelligence

Medicine

Robot end effector

Workspace

Human–computer interaction

The task of robotic mobile manipulation poses several scientific challenges that need to be addressed to execute complex manipulation tasks in unstructured environments, in which collaboration with humans might be required. Therefore, we present ALMA, a motion planning and control framework for a torque-controlled quadrupedal robot equipped with a six degrees of freedom robotic arm capable of performing dynamic locomotion while executing manipulation tasks. The online motion planning framework, together with a whole-body controller based on a hierarchical optimization algorithm, enables the system to walk, trot and pace while executing operational space end-effector control, reactive human-robot collaboration and torso posture optimization to increase the arm's workspace. The torque control of the whole system enables the implementation of compliant behavior, allowing a user to safely interact with the robot. We verify our framework on the real robot by performing tasks such as opening a door and carrying a payload together with a human.

ALMA - Articulated Locomotion and Manipulation for a Torque-Controllable Robot