让四足机器人自主抓取物体，靠任务级交互实现
Autonomous Grasping On Quadruped Robot With Task Level Interaction
- 用任务级交互设计控制架构，支持远程操作
- 实测12次抓取成功率达75%，导航与识别准确
- 适合需要灵活移动与操作的服务机器人场景
四足机器人因高机动性和复杂地形适应能力，在多种应用中日益普及。然而，多数现有四足机器人仅关注运动能力，缺乏物体操作功能。为提升其服务能力，本研究在四足机器人上集成机械臂与夹爪，构建基于ROS的分层控制系统，并开发网页交互界面，实现远程任务级人机交互。系统支持自主导航、目标检测与抓取，采用GraspNet进行抓取规划。通过真实场景测试评估导航、物体选择与抓取性能及用户体验。实验结果表明，该系统可稳定执行任务，12次抓取试验中成功率达75%。验证了该方法在提升四足机器人作为服务机器人实际应用潜力方面的有效性。
原文摘要 · Abstract (English)
Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation capabilities. Equipping a quadruped robot with a robotic arm and gripper introduces a challenge in manual control, especially in remote scenarios that require complex commands. This research aims to develop an autonomous grasping system on a quadruped robot using a task-level interaction approach. The system includes hardware integration of a robotic arm and gripper onto the quadruped robot's body, a layered control system designed using ROS, and a web-based interface for human-robot interaction. The robot is capable of autonomously performing tasks such as navigation, object detection, and grasping using GraspNet. Testing was conducted through real-world scenarios to evaluate navigation, object selection and grasping, and user experience. The results show that the robot can perform tasks accurately and consistently, achieving a grasping success rate of 75 % from 12 trials. Therefore, the system demonstrates significant potential in enhancing the capabilities of quadruped robots as service robots in real-world environments.
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