Research on Motion Control Technology of Quadruped Robot Arm Based on Visual Analysis

To address the issues of limited working range, weak interactivity, and low safety in robotic arm, a collaborative quadruped robot with an attached robotic arm is designed and implemented. Using the door-opening task as an example, this system covers target recognition and measurement, kinematic modeling and path planning, collision detection, and collaborative control. The Mask-RCNN algorithm is employed for precise identification of the door handle, and a depth camera is used to measure the spatial distance to the door handle. A torque observer based on generalized momentum is designed for collision detection of the robotic arm. Based on the coordinates of the target object and the observed external torque, a motion control strategy for the robotic arm to open the door is planned. Finally, a collaborative control logic is established between the quadruped robot and the robotic arm, enabling them to work together to complete the door-opening task while ensuring safety.