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Pick-up and Loading of Packages by Transformable Quadrupeds
Transport of packages of various dimensions is often mentioned as one of the most viable use cases for autonomous mobile robots. The ability to autonomously pick up and self-load a package is, however, a functionality that many systems are still lacking. Preliminary work showed that quadrupedal robots have the potential to execute this skill by manipulating payloads with their legs or main body. In this project, we aim to investigate how legged and wheeled legged robots can achieve autonomous package pick-and-load tasks with practical design modifications and clever maneuvers.
Related literature
Schwarke, Clemens, et al. "Curiosity-Driven Learning of Joint Locomotion and Manipulation Tasks." 7th Annual Conference on Robot Learning. 2023.
Related literature
Schwarke, Clemens, et al. "Curiosity-Driven Learning of Joint Locomotion and Manipulation Tasks." 7th Annual Conference on Robot Learning. 2023.
Literature research
Preliminary tests with current hardware for picking up boxes
Defining requirements for a functional prototype
Conceptual and hardware design of the proposed system
Validation of the selected approach on real hardware
Literature research
Preliminary tests with current hardware for picking up boxes
Defining requirements for a functional prototype
Conceptual and hardware design of the proposed system
Validation of the selected approach on real hardware
Highly motivated student eager to test on real hardware
Experience with CAD design (preferably Siemens NX)
Passionate about mechanisms and manufacturing
Basic knowledge of Python, C++, and ROS stacks is beneficial
Highly motivated student eager to test on real hardware
Experience with CAD design (preferably Siemens NX)
Passionate about mechanisms and manufacturing
Basic knowledge of Python, C++, and ROS stacks is beneficial