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

Eiichirou Tanaka, Toru Omata, Suguru Wada

研究成果: Article査読

抄録

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.

本文言語English
ページ(範囲)2582-2588
ページ数7
ジャーナルNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
64
623
DOI
出版ステータスPublished - 1998
外部発表はい

ASJC Scopus subject areas

  • 材料力学
  • 機械工学
  • 産業および生産工学

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