Quadruped robot which can take various postures

Toru Omata*, Eiichiro Tanaka

*この研究の対応する著者

研究成果: Conference article査読

4 被引用数 (Scopus)

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.

本文言語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
3
出版ステータスPublished - 1999 1月 1
外部発表はい
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 101999 5月 15

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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