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.
|ジャーナル||Proceedings - IEEE International Conference on Robotics and Automation|
|出版ステータス||Published - 1999 1月 1|
|イベント||Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA|
継続期間: 1999 5月 10 → 1999 5月 15
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