Biomimicing motion control of the WorkPartner robot

Abstract

WorkPartner (WP), is the prototype of a mobile centaur‐like service robot designed to work interactively with humans in an outdoor environment. It moves using four wheeled legs and has a human‐like upper body. Tasks executed by the robot are similar to those that a human can do; the robot may replace or work together with people. Mobility is based on a hybrid system, which combines the benefits of both legs and wheels to provide good terrain negotiating capability and a large velocity range on variable ground. The robot is powered by a hybrid power system with electrical actuation and energy storage in the form of gasoline. The robot is equipped with a human‐like two‐hand manipulator. The long‐term goal is to develop an adaptive and learning robot, which can carry tools and work interactively with humans.