ALPHRED: A Multi-Modal Operations Quadruped Robot for Package Delivery Applications

摘要

Modern quadruped robots are more capable than ever before at performing robust, dynamic locomotion over a variety of terrains, but are still mostly used as mobile inspection platforms. This paper presents ALPHRED version 2, a multi-modal operations quadruped robot designed for both locomotion and manipulation. ALPHRED is equipped with high force bandwidth proprioceptive actuators and simple one degree of freedom end-effectors. Additionally, ALPHRED has a unique radially symmetric kinematic design that provides a superior end-effector workspace and allows the robot to reconfigure itself into different modes to accomplish different tasks. For locomotion tasks, ALPHRED is capable of fast dynamic trotting, continuous hopping and jumping, efficient rolling on passive caster wheels, and even has the potential for bipedal walking. For manipulation tasks, ALPHRED has a tripod mode that provides single arm manipulation capabilities that is strong enough to punch through a wooden board. Additionally, ALPHRED can go into a bipedal mode to allow for dual arm manipulation capable of picking up a box off a one meter tall table and placing it on the ground.