Robotic Arm Development for a Quadruped Robot

• Type: Article in International Conference Proceedings Book
• Date: 2024

Authors

Lopes, MS (Author) Other; António Paulo Moreira (Author) FEUP; Silva, MF (Author) Other; Filipe Neves Santos (Author) FEUP

Conference proceedings International

Title: SYNERGETIC COOPERATION BETWEEN ROBOTS AND HUMANS, VOL 2, CLAWAR 2023

Pages: 63-74

26th International Conference Series on Climbing and Walking Robots (CLAWAR)

Florianopolis, BRAZIL, OCT 02-04, 2023

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Other information

Authenticus ID: P-00Z-K5F

DOI: 10.1007/978-3-031-47272-5_6

Abstract (EN): Quadruped robots have gained significant attention in the robotics world due to their capability to traverse unstructured terrains, making them advantageous in search and rescue and surveillance operations. However, their utility is substantially restricted in situations where object manipulation is necessary. A potential solution is to integrate a robotic arm, although this can be challenging since the arm's addition may unbalance the whole system, affecting the quadruped locomotion. To address this issue, the robotic arm must be adapted to the quadruped robot, which is not viable with commercially available products. This paper details the design and development of a robotic arm that has been specifically built to integrate with a quadruped robot to use in a variety of agricultural and industrial applications. The design of the arm, including its physical model and kinematic configuration, is presented. To assess the effectiveness of the prototype, a simulation was conducted with a motion-planning algorithm based on the arm's inverse kinematics. The simulation results confirm the system's stability and the functionality of the robotic arm's movement.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 12