A groundbreaking loco-manipulator transforms a simple robot dog into a dexterous machine that can walk and handle objects simultaneously. This machine shows recent advancements in developing quadrupedal robots.
What Are Quadrupedal Robots?
Humanoid robots have recently grabbed the attention of the public due to their amazing human-like features. However, quadrupedal robots have witnessed significant innovations of late.
Quadrupedal robots are four-legged machines that are designed for enhanced mobility and stability of locomotion. These innovative machines can navigate challenging places and squeeze into tight spaces, making them very useful for different applications. They also demonstrate advantageous characteristics like the ability to walk on complex terrains rapidly while keeping a low center of gravity.
However, quadrupedal robots are limited by a lack of precision manipulation capabilities. While these four-legged robots can control objects in their surroundings, this is typically achieved with the use of arm-like structures mounted at the tops of the robots instead of the limbs they use to walk.
Compared to humanoid robots, quadrupedal robots lack hands, so they are restricted to rudimentary interactions like kicking or pushing objects. Some efforts were made to equip them with robotic arms, but these led to compromised mobility and agility due to reduced maneuverability and increased weight.
Dual-Purpose Limbs
To address this challenge, a group of experts from the University of Washington, Carnegie Mellon University, and Google DeepMind have developed the LocoMan add-on system. This system transforms the limbs of quadrupedal robots into appendages with dual purposes.
Led by associate professor Ding Zhao from Carnegie Mellon University, the research team designed the system with enhanced manipulators that can be attached to the calves of the quadrupedal robots. This solution is not only lightweight and low-cost, but it is also compatible with existing four-legged robots.
The manipulators allow the motion in three degrees of freedom which is very useful in tasks like picking and placing objects. Moreover, the Loco-manipulators do not compromise the robot's agility and its ability to explore challenging terrain.
The dexterity of LocoMan was demonstrated by the research team through a series of real-world experiments. They prove how the advanced quadrupedal robot can manage complex manipulation tasks like picking up objects in confined spaces, plugging electronics into sockets, and opening doors.
These capabilities were achieved with the help of 6D pose manipulation. According to study author Changyi Lin, the LocoMan operates under a Whole-Body Control (WBC) framework which transitions across five operational modes seamlessly.
The modes include using one limn to interact with the environment, using one gripper hand to control objects, and utilizing both grippe hands for dual-arm manipulation tasks. Additionally, the modes allow LocoMan to manipulate objects while simultaneously locomoting on the move.
The innovative technology will soon be tested in a wider range of settings to be used in tackling real-world problems. Zhao and his team plan to improve the quadrupedal robot with the use of machine learning algorithms and computer vision.
The researchers noted that their invention aims to provide a different perspective on intelligent machines. Instead of replicating humans with the same morphology, they would like to offer a complementary robot that can perform tasks that humans may not want to do.
RELATED ARTICLE : Small Quadruped Robot "SQuRo" Developed to Mimic Agility of Rats, Can Carry Objects as Heavy as Its Own Weight
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