Quadruped robot which can take various postures

Toru Omata, Eiichiro Tanaka

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

We developed a quadruped robot which can take various postures, e.g. lying on the floor and standing on the knees. When the limbs are free from supporting the body of the robot, they can serve as arms. Up to two limbs can be freed from supporting the body when the robot stands on the knees. The motion of the robot is constrained if it maintains current contact with the floor. This paper analyzes possible motions of the robot to maintain current contact. We show that even if the same parts of the robot are in contact with the floor, there exist singular postures at which the body of the robot has an additional degree of freedom.

Original languageEnglish
Pages (from-to)2366-2371
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
Publication statusPublished - 1999
Externally publishedYes

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Quadruped robot which can take various postures. / Omata, Toru; Tanaka, Eiichiro.

In: Proceedings - IEEE International Conference on Robotics and Automation, Vol. 3, 1999, p. 2366-2371.

Research output: Contribution to journalArticle

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