Autonomous Navigation of Quadruped Integrated With Manipulator

The focus of this research is the assembly of the Open Manipulator X on the Unitree Go1 quadruped robot, enhancing its capabilities to execute complex manipulation tasks in unstructured environments. By integrating various sensors, including the camera already present on the Go1, a SLAMTECH LiDAR, and the Go1's IMU sensor, a robust motion planning and control framework is developed. This framework enables the torque-controlled quadrupedal robot to perform dynamic locomotion while simultaneously executing manipulation tasks, thereby achieving a high level of autonomy without the need for human intervention. The framework is verified on the real robot by performing tasks such as reaching the specified end effector point by navigating through obstacles present in the environment. The experimental results demonstrate the effectiveness of the proposed system in navigating and performing tasks in diverse and challenging scenarios, showcasing advancements in the field of autonomous robotics.