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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 decouplingallows for fast end-effector motions and recovery that leads to robust visualservoing. The whole approach and pipeline can be generalized for any mobileplatform (wheeled or tracked vehicles), but is most suitable for dynamicallymoving quadruped manipulators thanks to their reactivity against disturbances.The compliance of the impedance controller makes the robot safer forinteractions with humans and the environment. We demonstrate the performanceand robustness of the proposed approach with various experiments on our 140 kgHyQReal quadruped robot equipped with a 7-DoF manipulator arm. The experimentsconsider dynamic locomotion, tracking under external disturbances, and fastmotions of the target object.

Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators