Whole-Body Synergy-Based Balance Control for Quadruped Robots with Manipulators on Sloped Terrains
Ru Kang1, Huifeng Ning1, Fei Meng2
1School of Mechanical and Electrical Engineering, Lanzhou University of Technology, Lanzhou 730050, China.
Cyborg and Bionic Systems (Washington, D.C.)
|May 20, 2025
Summary
Quadruped robots with manipulators can now maintain balance on slopes using whole-body synergy. This adaptive control method utilizes the manipulator
Area of Science:
- Robotics
- Control Systems
- Mechanical Engineering
Background:
- Quadruped robots with manipulators offer expanded applications but face challenges in balance control due to a higher center of mass, especially on sloped terrains.
- Integrating dynamic motion and manipulation capabilities complicates existing control strategies for quadruped robots.
Purpose of the Study:
- To propose a whole-body synergy-based balance control method for quadruped robots equipped with manipulators.
- To enhance the balance and motion control of quadruped robots on sloped terrains by adaptively utilizing manipulator movements.
Main Methods:
- Developed a balance control method based on whole-body synergy, emphasizing adaptive manipulator adjustments.
- Established a mapping relationship between manipulator motion and robot attitude for equilibrium under varying terrain angles.
- Incorporated optimization of system angular momentum and manipulator manipulability into hierarchical optimization tasks for improved control accuracy.
Main Results:
- Demonstrated reduced velocity and attitude angle fluctuations in quadruped robots with manipulators during climbing motions.
- Observed smoother foot-end force dynamics, indicating improved stability and control.
- Validated the effectiveness of the manipulator-based adaptive adjustment strategy through simulations and experiments.
Conclusions:
- The proposed whole-body synergy control method effectively enhances the balance and motion performance of quadruped robots with manipulators on sloped terrains.
- Adaptive manipulator adjustment is crucial for maintaining stability and improving overall system performance in dynamic environments.
- The strategy offers a superior approach to controlling legged robots with added manipulation capabilities.
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