移动四臂机器人ARMS：轮腿式三足运动与四臂移动操作
A Mobile Quad-Arm Robot ARMS: Wheeled-Legged Tripedal Locomotion and Quad-Arm Loco-Manipulation
AI总结：
提出移动四臂机器人ARMS，统一轮腿三足运动与四臂移动操作，通过七项实验验证其关节控制、运动及抓取能力。
摘要：
本文提出了一种移动四臂机器人：ARMS，它统一了轮腿式三足运动、轮式运动以及四臂移动操作。ARMS的四条手臂具有不同的机构，部分被设计为用于混合运动和移动操作的通用手臂。一条三自由度（DOF）手臂装有主动轮，用于轮腿式三足行走以及借助连接在躯干上的被动轮进行轮式驱动。两条三自由度通用手臂是串联弹性的，用于轮腿式三足行走、物体抓取和操作。上部两自由度手臂仅用于操作；其位置和姿态通过协调所有手臂来确定。每个电机由角度控制器和带有角度、角速度、角加速度和力矩约束的轨迹修正来控制。ARMS通过七项实验进行了验证，涉及关节控制、轮腿式运动、轮式运动和抓取、斜坡运动、块状地形运动、携带袋子和户外运动。
英文摘要：
This article proposes a mobile quad-arm robot: ARMS, which unifies wheeled-legged tripedal locomotion, wheeled locomotion, and quad-arm loco-manipulation. ARMS's four arms have different mechanisms and are partially designed to be general-purpose arms for the hybrid locomotion and loco-manipulation. One three-degree-of-freedom (DOF) arm has an active wheel, which is used for wheeled-legged tripedal walking and wheeled driving with passive wheels attached to the torso. Two three-DOF general-purpose arms are series elastic and used for wheeled-legged tripedal walking, object grasping, and manipulation. The upper two-DOF arm is used for manipulation only; its position and orientation are determined by coordinating all arms. Each motor is controlled by an angle controller and trajectory modification with angle, angular velocity, angular acceleration, and torque constraints. ARMS was verified with seven experiments involving joint control, wheeled-legged locomotion, wheeled locomotion and grasping, slope locomotion, block terrain locomotion, carrying a bag, and outdoor locomotion.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
