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Hydraulic Quadruped Robot JINPOONG II: Toward Qualified Platform for Mobile Manipulation in Field Environment

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Intelligent Autonomous Systems 18 (IAS 2023)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 795))

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Abstract

We introduce a hydraulic quadruped robot, JINPOONG II, designed to qualify as a base platform for mobile manipulation. The mobile manipulation process in the field environment can be classified into three stages: “Approach,” “Stretch-out,” and “Manipulation.” To qualify as suitable the mobile platform must have “mobility,” “dexterity” to perform each stage, and “stability” to ensure stable operation of every process of stages. The quadruped robot is the most suitable candidate for mobile manipulator application because it can satisfy these requirements. We adopted a SLIP-based leg mechanism and a suitable control strategy to configure a quadruped robot that meets the qualifications. We then tested JINPOONG II’s performance of body motion and interaction with external forces to verify whether the subject robot has the required qualifications in line with the design intent. The results established that JINPOONG II could perform 6 DoF motions of the body and various other compliance motions and walking on rough terrain. This indicates that JINPOONG II is equipped with qualifications as a base platform for mobile manipulators.

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Acknowledgements

This study has been conducted with the support of the Korea Institute of Industrial Technology as “Development of Soft Robotics Technology for Human-Robot Coexistence Care Robots (KITECH EH230015)”.

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Authors and Affiliations

  1. AI. Robotics R &D Department, Korea Institute of Industrial Technology, Ansan, Korea

    Jaehong Seo, Sangshin Park, Jin Tak Kim, Jinhyeon Kim & Jungsan Cho

Authors
  1. Jaehong Seo
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  2. Sangshin Park
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  3. Jin Tak Kim
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  4. Jinhyeon Kim
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  5. Jungsan Cho
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Corresponding author

Correspondence to Jaehong Seo .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, Kyung Hee University, Yongin-si, Korea (Republic of)

    Soon-Geul Lee

  2. Department of Interdisciplinary Engineering, Daegu Gyeongbuk Institute of Science and DGIST R4-708, Daegu, Korea (Republic of)

    Jinung An

  3. School of Information Science, Human Information Science Research Area, Japan Advanced Institute of Science and Technology, Ishikawa, Japan

    Nak Young Chong

  4. DHBW Karlsruhe, Cooperative State University Baden-Wuerttemberg Karlsruhe, Karlsruhe, Germany

    Marcus Strand

  5. Department of Mechanical and Aerospace Engineering, New York University, New York, NY, USA

    Joo H. Kim

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Seo, J., Park, S., Kim, J.T., Kim, J., Cho, J. (2024). Hydraulic Quadruped Robot JINPOONG II: Toward Qualified Platform for Mobile Manipulation in Field Environment. In: Lee, SG., An, J., Chong, N.Y., Strand, M., Kim, J.H. (eds) Intelligent Autonomous Systems 18. IAS 2023. Lecture Notes in Networks and Systems, vol 795. Springer, Cham. https://doi.org/10.1007/978-3-031-44851-5_31

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