We propose a control pipeline for SAG (Searching, Approaching, and Grasping)
of objects, based on a decoupled arm kinematic chain and impedance control,
which integrates image-based visual servoing (IBVS). The kinematic decoupling
allows for fast end-effector motions and recovery that leads to robust visual
servoing. The whole approach and pipeline can be generalized for any mobile
platform (wheeled or tracked vehicles), but is most suitable for dynamically
moving quadruped manipulators thanks to their reactivity against disturbances.
The compliance of the impedance controller makes the robot safer for
interactions with humans and the environment. We demonstrate the performance
and robustness of the proposed approach with various experiments on our 140 kg
HyQReal quadruped robot equipped with a 7-DoF manipulator arm. The experiments
consider dynamic locomotion, tracking under external disturbances, and fast
motions of the target object.

本研究提出一种基于解耦臂运动链和阻抗控制的物体搜索、接近和抓取（SAG）控制流程，它集成了基于图像的视觉伺服（IBVS），可用于任何移动平台（轮式或履带式车辆），但最适合于具有对干扰的反应性的四足操纵器。其中，阻抗控制的柔顺性使得机器人在与人类和环境的交互时更安全。在我们配备了 7 个自由度机械臂的 140 kg HyQReal 四足机器人上进行的各种实验中，我们展示了所提出方法的性能和稳健性，包括动态移动、在外部干扰下的跟踪和目标物体的快速运动。