Journal
IEEE ROBOTICS AND AUTOMATION LETTERS
Volume 4, Issue 2, Pages 1595-1602Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2019.2896758
Keywords
Legged robots; wheeled robots; field robots; centaur; quadruped; modular actuators; compliant actuators
Categories
Funding
- European Unions Horizon 2020 research and innovation program [644839]
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Despite the development of a large number of mobile manipulation robots, very few platforms can demonstrate the required strength and mechanical sturdiness to accommodate the needs of real-world applications with high payload and moderate/harsh physical interaction demands, e.g., in disaster-response scenarios or heavy logistics/ collaborative tasks. In this letter, we introduce the design of a wheeled-legged mobile manipulation platform capable of executing demanding manipulation tasks, and demonstrating significant physical resilience while possessing a body size (height/ width) and weight compatible to that of a human. The achieved performance is the result of combining a number of design and implementation principles related to the actuation system, the integration of body structure and actuation, and the wheeled-legged mobility concept. These design principles are discussed, and the solutions adopted for various robot components are detailed. Finally, the robot performance is demonstrated in a set of experiments validating its power and strength capability when manipulating heavy payload and executing tasks involving high impact physical interactions.
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