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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.

Keywords:

mobile manipulation organize objects quadruped robot

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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.