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A quadruped manipulator is a kind of mobile manipulator that can ne-gotiate complex environment while manipulate the objects. Moreover, with the cooperation of manipulator and legs, a quadruped can more conveniently achieve biped motion on demand. It is challenging to coordinate the movement of the manipulator and the leg to achieve switching from quadruped gait to biped gait. This paper proposes a control method for biped walking of a quadruped manipu-lator robot by adjusting the zero-moment point (ZMP). Based on the centroid dynamics model, a full-body motion controller considering the dynamics of the manipulator is constructed, and the stable switching of the robot from quadruped gait to biped gait is realized by planning and controlling the ZMP position. This method is verified in the simulation environment.

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A Quadruped Manipulator Robot that Achieves Bipedal Motion via ZMP Planning and Dynamic Control

  • 会议论文

  • 发表日期：

    2025年

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  • Chuanlin Zhao,
  • Junjie Chen,
  • Tiancheng Ma,
  • Peng Sun,
  • Xin Luo

摘要

A quadruped manipulator is a kind of mobile manipulator that can ne-gotiate complex environment while manipulate the objects. Moreover, with the cooperation of manipulator and legs, a quadruped can more conveniently achieve biped motion on demand. It is challenging to coordinate the movement of the manipulator and the leg to achieve switching from quadruped gait to biped gait. This paper proposes a control method for biped walking of a quadruped manipu-lator robot by adjusting the zero-moment point (ZMP). Based on the centroid dynamics model, a full-body motion controller considering the dynamics of the manipulator is constructed, and the stable switching of the robot from quadruped gait to biped gait is realized by planning and controlling the ZMP position. This method is verified in the simulation environment.