Nonprehensile Object Transportation with a Legged Manipulator

Data and implementation of the nonprehensile object transportation method for legged robots developed in the paper:

*V. Morlando, M. Selvaggio, F. Ruggiero, "Nonprehensile Object Transportation with a Legged Manipulator", in Proc. IEEE Int. Conf. Robot. Autom., Philadelphia, USA, 2022, p. to appear.

Citing

@article{MorlandoRAL2021,
  title={Nonprehensile Object Transportation with a Legged Manipulator},
  author={Morlando, Viviana and Selvaggio, Mario and Ruggiero, Fabio},
  booktitle={2022 IEEE International Conference on Robotics and Automation},
  year={2022},
  organization={IEEE}
}

Instructions

The code was tested with Ubuntu 20.04, and ROS Noetic. Different OS and ROS versions are possible but not supported.

Install dependencies

sudo apt-get install ros-noetic-ros-control ros-noetic-ros-controllers

Clone the following packages

Clone the following packages

cd <CATKIN_WS_DIR>/src

git clone https://github.com/Viviana-Morl/Dogbot_manipulator.git

git clone https://github.com/Viviana-Morl/legged-nonprehensile-manipulation.git

git clone https://github.com/ros/kdl_parser.git

Compile

catkin_make -DCMAKE_BUILD_TYPE=Release

Run simulation

roslaunch dogbot_gazebo gztest.launch paused:=true

rosrun dogbot_waiter waiter [path]/[to]/[DogBotV4]/dogbot_description/urdf/dogbot.urdf

Press play in gazebo to start the simulation