Abstract: A mobile manipulation control method of a quadruped robot with an operation arm, including: obtaining current pose information of the legged mobile manipulator; decomposing a task into subtasks, and prioritizing the subtasks; based on the pose information and a dynamic model, generating a motion trajectory under each subtask; based on the dynamic model, optimizing an optimal plantar force of a supporting leg and an end-of-arm force under each subtask; based on a multi-task spatial projection method, calculating desired control quantity of all joints under different subtasks; and (d) optimizing the optimal plantar force and the desired control quantity with the whole-body dynamic model as a constraint to obtain control torques; and based on the control torques, controlling the legged mobile manipulator's motion. A control system is further provided.

Abstract: A mobile manipulation control method of a quadruped robot with an operation arm, including: obtaining current pose information of the legged mobile manipulator; decomposing a task into subtasks, and prioritizing the subtasks; based on the pose information and a dynamic model, generating a motion trajectory under each subtask; based on the dynamic model, optimizing an optimal plantar force of a supporting leg and an end-of-arm force under each subtask; based on a multi-task spatial projection method, calculating desired control quantity of all joints under different subtasks; and (d) optimizing the optimal plantar force and the desired control quantity with the whole-body dynamic model as a constraint to obtain control torques; and based on the control torques, controlling the legged mobile manipulator's motion. A control system is further provided.

Abstract: Disclosed is a biped robot and multi-configuration robot capable of being spliced autonomously, and a control method of the multi-configuration robot. The biped robot comprises a torso, arms, legs, a tolerance docking sleeve, and a torso docking device. The arms are correspondingly arranged at the left and right sides of the torso, and two legs are arranged at the lower side of the torso. The tolerance docking sleeve is movably arranged at the rear side of the torso through a base, and the torso docking device is fixed to the front side of the torso. Single biped robots in the present disclosure can form a multi-configuration legged combined body in a self-organization and reconstruction mode so as to achieve bipedal, quadrupedal, hexapodal and other multi-legged configurations. The motion stability and the load capacity of the legged robot are improved through the splicing combination of the modular legged robots.

Abstract: The present disclosure discloses a self-adaptive mechanical foot for the legged robot. The mechanical foot has a piston disposed inside a piston cylinder. The piston is connected to one end of each humeral plate, and the piston cylinder is connected to the other end of each humeral plate. The humeral plates perform opening and closing movement through the up-down movement of the piston in the piston cylinder. The humeral plates are connected to toes on the foot and drive the toes to open and close through the up-down movement. The mechanical foot provided by the present disclosure has higher standing stability and fast interaction response speed when interacting with the terrain. It can realize arbitrary and fast switching between a point-like foot and a planar foot, and meanwhile avoids collision between a support leg and a swing leg.