Orthrus: A Dual-arm Quadrupedal Robot for Mobile Manipulation and Entertainment Applications

摘要

In this paper, we present an add-on system that enhances the capabilities of a quadrupedal robot. The addon system efficiently allows the integration of two 6-DOF manipulators with a quadruped as a single system. The design of the system is developed with modularity as an important principle, allowing for versatility and adaptability in various applications of mobile manipulation. With the modular design, the system can easily be used for mobile-manipulation tasks but also as a system for human entertainment. We show the modular and versatility of the system through applications in a home setting and various entertainment settings. The proposed system leads to an enhanced level of human-robot interaction with more engaging and interactive experiences.