抄録
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.
| 元の言語 | English |
|---|---|
| ページ（範囲） | 2366-2371 |
| ページ数 | 6 |
| ジャーナル | Proceedings - IEEE International Conference on Robotics and Automation |
| 巻 | 3 |
| 出版物ステータス | Published - 1999 |
| 外部発表 | Yes |
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ASJC Scopus subject areas
- Software
- Control and Systems Engineering
これを引用
Quadruped robot which can take various postures. / Omata, Toru; Tanaka, Eiichiro.
：: Proceedings - IEEE International Conference on Robotics and Automation, 巻 3, 1999, p. 2366-2371.研究成果: Article
}
TY - JOUR
T1 - Quadruped robot which can take various postures
AU - Omata, Toru
AU - Tanaka, Eiichiro
PY - 1999
Y1 - 1999
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0032643420&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0032643420&partnerID=8YFLogxK
M3 - Article
AN - SCOPUS:0032643420
VL - 3
SP - 2366
EP - 2371
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
SN - 1050-4729
ER -