Research on target grab of leg-arm cooperative robot based on vision

Leg-arm cooperative robot can not only expand the motion space of traditional manipulator, but also make up the operation ability of traditional mobile robot. This paper studies the target grab of leg-arm cooperative robot based on vision. First of all, independently develop the leg-arm cooperative robot. Secondly, for the operation of the manipulator, a height-angle uncoupling PID algorithm is innovatively designed in the cylindrical coordinate system. The target position information obtained by the YOLOv3 algorithm is used as feedback to realize the accurate control of the manipulator, which can avoid the complex process of trajectory planning. Furthermore, combined with three-element trajectory planning method and motion control scheme under triangular gait, a target grab control strategy for the leg-arm cooperative robot is designed, including the height allocation decision maker and the target tracking controller. Finally, the proposed algorithm and schemes are verified with the entity robot.