Related Experiment Video
Updated: Jul 13, 2025
07:41
Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
Published on: January 7, 2019
9.2K
A Software Platform for Quadruped Robots with Advanced Manipulation Capabilities.
Jae-Bong Yi1, Shady Nasrat1, Min-Seong Jo1
1Department of Electrical Engineering, Pusan National University, Busan 46241, Republic of Korea.
Sensors (Basel, Switzerland)
|October 14, 2023
Summary
This study presents a novel software framework enabling quadrupedal robots to clear household objects. The system integrates perception, navigation, and manipulation for autonomous task completion in simulated environments.
Area of Science:
- Robotics
- Artificial Intelligence
- Computer Science
Background:
- Current robots often lack advanced manipulation capabilities or are limited by wheeled locomotion.
- Existing software platforms for quadrupedal robots frequently lack integrated systems for perception, navigation, locomotion, and manipulation.
Purpose of the Study:
- To introduce a comprehensive software framework for quadrupedal robots designed for household object manipulation.
- To enable robots to perceive their environment and autonomously organize objects.
Main Methods:
- Development of a software framework integrating perception, navigation, locomotion, and manipulation.
- Utilizing sensor inputs for environmental perception and object organization.
- Verification through experiments in a simulation environment mirroring RoboCup@Home 2021-virtual competition conditions.
Main Results:
- The proposed framework demonstrated promising performance in clearing household objects within a simulated environment.
- The system successfully handled variations in object types and poses.
Conclusions:
- The developed software framework provides a robust solution for quadrupedal robot manipulation in domestic settings.
- The research validates the framework's effectiveness for autonomous object clearing tasks.
Related Concept Videos
01:24One-Degree-of-Freedom System
495
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
495
01:30Three-Dimensional Force System:Problem Solving
675
A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
675
01:06Virtual Work for a System of Connected Rigid Bodies
392
Virtual work is a powerful method used to solve problems involving several connected rigid bodies. When the system is in equilibrium, virtual work is zero. This allows the calculation of the resulting forces when a system undergoes a virtual displacement. When attempting to analyze such a system, first, use a free-body diagram, where an independent coordinate represents the configuration of the links, and mark its deflected position resulting from the positive virtual displacement.
Next,...
Next,...
392