Autonomous Quadruped Robot System with LiDAR Sensor Navigation and Task Execution

This study focuses on a project aimed at developing an autonomous system for a quadruped robot (Unitree B1). The objective is to construct LiDAR-based navigation for this robot, which is outfitted with a LiDAR sensor from Robosense. Furthermore, the study aims to advance motion planning for a robotic arm (Unitree Z1) integrated with the robot. The project was primarily executed using the ROS framework. The environment was mapped utilizing the SLAM approach, and the robot's position and orientation inside the generated map were obtained by the AMCL algorithm. Path planning and obstacle avoidance are executed using Move Base. The C++ SDK of the robotic arm has been utilized for manipulation tasks. The real-time and virtual visualization in RViz indicated that the robot achieved navigation objectives while avoiding obstacles, and the planned trajectory was being executed as required by the robotic arm.