Quadruped robot which can take various postures

Toru Omata, Eiichiro Tanaka

研究成果: Article

4 引用 (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.

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
3
出版物ステータスPublished - 1999
外部発表Yes

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Robots

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

これを引用

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