Hierarchical Adaptive Control for Collaborative Manipulation of a Rigid Object by Quadrupedal Robots

Understand

Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize.

• In this paper, we propose a hierarchical control system that can handle real-world collaborative manipulation tasks, including uncertainties arising from object properties, shape, and terrain.
• Our approach consists of three levels of controllers.
• Firstly, an adaptive controller computes the required force and moment for object manipulation without prior knowledge of the object's properties and terrain.