Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation capabilities. Equipping a quadruped robot with a robotic arm and gripper introduces a challenge in manual control, especially in remote scenarios that require complex commands. This research aims to develop an autonomous grasping system on a quadruped robot using a task-level interaction approach. The system includes hardware integration of a robotic arm and gripper onto the quadruped robot's body, a layered control system designed using ROS, and a web-based interface for human-robot interaction. The robot is capable of autonomously performing tasks such as navigation, object detection, and grasping using GraspNet. Testing was conducted through real-world scenarios to evaluate navigation, object selection and grasping, and user experience. The results show that the robot can perform tasks accurately and consistently, achieving a grasping success rate of 75 % from 12 trials. Therefore, the system demonstrates significant potential in enhancing the capabilities of quadruped robots as service robots in real-world environments.

翻译：四足机器人因其高机动性和适应多样化地形的能力，在各类应用场景中的使用日益广泛。然而，现有的大多数四足机器人主要侧重于移动功能，缺乏物体操控能力。为四足机器人配备机械臂和夹爪后，其手动控制面临挑战，尤其是在需要复杂指令的远程操作场景中。本研究旨在通过任务级交互方法，开发一套应用于四足机器人的自主抓取系统。该系统包括将机械臂和夹爪集成至四足机器人本体的硬件设计、基于ROS构建的分层控制系统，以及用于人机交互的网页界面。该机器人能够利用GraspNet自主执行导航、物体检测与抓取等任务。通过真实场景测试，评估了其导航性能、物体选择与抓取能力以及用户体验。结果表明，机器人在12次试验中实现了75%的抓取成功率，能够准确且稳定地完成任务。因此，该系统在提升四足机器人作为服务机器人在实际环境中的作业能力方面展现出显著潜力。