Go Fetch! - Dynamic Grasps using Boston Dynamics Spot with External Robotic Arm

Simon Zimmermann, Roi Poranne, Stelian Coros

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

We combine Boston Dynamics Spot®R with a lightweight, external robot arm to perform dynamic grasping maneuvers. While Spot is a reliable, robust and easy-to-control mobile robot, these highly desirable qualities come with the price that the control access granted to the user is restricted. Consequently Spot's behavior must largely be treated as a black box, which causes difficulties when combined with a moving payload such as a robotic arm. We overcome the arising challenges by building a model of the combined platform, fitting the corresponding model parameters using experimental data and a straight-forward optimization framework. We use this model to generate control commands for the physical platform using trajectory optimization. We demonstrate that even with a simple model, and control trajectories deployed in a feed-forward manner, the combined platform is capable of executing grasping tasks in a dynamic fashion. Furthermore, we show how the platform can use the additional degrees of freedom of the legs to extend the reachability of the arm.

Original languageEnglish
Title of host publication2021 IEEE International Conference on Robotics and Automation, ICRA 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1170-1176
Number of pages7
ISBN (Electronic)9781728190778
DOIs
StatePublished - 2021
Event2021 IEEE International Conference on Robotics and Automation, ICRA 2021 - Xi'an, China
Duration: 30 May 20215 Jun 2021

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2021-May
ISSN (Print)1050-4729

Conference

Conference2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Country/TerritoryChina
CityXi'an
Period30/05/215/06/21

Bibliographical note

Publisher Copyright:
© 2021 IEEE

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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