Design and Kinematic Analysis of a Robot with Integrated Locomotion and Manipulation Capable of Taking Variable Postures

Eiichiro Tanaka, Toru Omata, Suguru Wada

Research output: Contribution to journalArticle


This paper discusses design and control issues for a robot with integrated locomotion and manipulation which can take various postures. This work is motivated by the fact that persons can take various postures and can work while being in those postures. We show a prototype of four legged twelve joint robot employing timing-belt mechanism. Each leg can be used as a manipulator when it is free from providing the support to the body of the robot. At most two legs are free when the robot stands on its knees. This paper formulates feasible motions of the robot maintaining contact with a supporting plane or the floor. This kinematic analysis is useful to determine whether the robot needs to lift its legs in order to change its postures or not.

Original languageEnglish
Pages (from-to)2582-2588
Number of pages7
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number623
Publication statusPublished - 1998 Jan 1
Externally publishedYes



  • Limb Mechanism
  • Mechatronics and Robotics
  • Moving Robot
  • Posture Control
  • Robot

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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