Orthrus: A Dual-arm Quadrupedal Robot for Mobile Manipulation and Entertainment Applications

被引：1

作者：

Yamsani, Sankalp ^{[1
]}

Taylor, Sean ^{[1
]}

Shin, Kazuki ^{[1
]}

Hong, Jooyoung ^{[1
]}

Mathur, Dhruv C. ^{[1
]}

Gim, Kevin ^{[1
]}

Kim, Joohyung ^{[1
]}

机构：

[1] Univ Illinois, KIMLAB Kinet Intelligent Machine LAB, Urbana, IL 61801 USA

来源：

2023 32ND IEEE INTERNATIONAL CONFERENCE ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, RO-MAN | 2023年

关键词：

D O I：

10.1109/RO-MAN57019.2023.10309339

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, we present an add-on system that enhances the capabilities of a quadrupedal robot. The add-on system efficiently allows the integration of two 6-DOF manipulators with a quadruped as a single system. The design of the system is developed with modularity as an important principle, allowing for versatility and adaptability in various applications of mobile manipulation. With the modular design, the system can easily be used for mobile-manipulation tasks but also as a system for human entertainment. We show the modular and versatility of the system through applications in a home setting and various entertainment settings. The proposed system leads to an enhanced level of human-robot interaction with more engaging and interactive experiences.

引用

页码：331 / 336

页数：6

共 50 条

[31] Walking pattern generation of dual-arm mobile robot using preview controller
Wu, P.
Wu, W.
Research Journal of Applied Sciences, Engineering and Technology, 2012, 4 (20) : 4098 - 4104
[32] Innovative Structural Design and Simulation Analysis of Dual-arm Mobile Nursing Robot
Zhang, Libo
Wang, Su
Miao, Xingang
PROCEEDINGS OF 2020 IEEE INTERNATIONAL CONFERENCE ON ARTIFICIAL INTELLIGENCE AND INFORMATION SYSTEMS (ICAIIS), 2020, : 480 - 484
[33] Local Path Planning for Dual-Arm Mobile Robot Shuttling Within Truss
Wu Weiguo
Wu Peng
MANAGEMENT, MANUFACTURING AND MATERIALS ENGINEERING, PTS 1 AND 2, 2012, 452-453 : 1220 - 1224
[34] Cooperative Manipulation and Identification of a 2-DOF Articulated Object by a Dual-Arm Robot
Almeida, Diogo
Karayiannidis, Yiannis
2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2018, : 5445 - 5451
[35] Design and Implementation of Dual-Arm Mobile Robot System Based on Wireless Transmission
Zhu Jiude
Pei Yijian
Liu Yunkai
Gao Donglin
2020 5TH INTERNATIONAL CONFERENCE ON COMPUTER AND COMMUNICATION SYSTEMS (ICCCS 2020), 2020, : 757 - 760
[36] Task-Based Compliance Control for Bottle Screw Manipulation With a Dual-Arm Robot
Jiao, Chunting
Zhang, Lin
Su, Xiaojie
Huang, Jiangshuai
Bing, Zhenshan
Knoll, Alois
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2024, 71 (02) : 1823 - 1831
[37] Development of a Visual Perception System on a Dual-Arm Mobile Robot for Human-Robot Interaction
Weng, Wei-Ting
Huang, Han-Pang
Zhao, Yu-Lin
Lin, Chun-Yeon
SENSORS, 2022, 22 (23)
[38] Motor-Imagery-Based Teleoperation of a Dual-Arm Robot Performing Manipulation Tasks
Liu, Yiliang
Su, Wenbin
Li, Zhijun
Shi, Guangming
Chu, Xiaoli
Kang, Yu
Shang, Weiwei
IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS, 2019, 11 (03) : 414 - 424
[39] Goal-Conditioned Dual-Action Imitation Learning for Dexterous Dual-Arm Robot Manipulation
Kim, Heecheol
Ohmura, Yoshiyuki
Kuniyoshi, Yasuo
IEEE TRANSACTIONS ON ROBOTICS, 2024, 40 : 2287 - 2305
[40] Walking Assist Design of a Dual-arm Robot
Wu, Ching-Jui
Song, Kai-Tai
11TH IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA), 2014, : 273 - 278

← 1 2 3 4 5 →