Omni-directional mobility of limb mechanism robot

被引：0
|
作者：
Arai, T [1 ]
Takahashi, Y [1 ]
Maeda, H [1 ]
Mae, Y [1 ]
Inoue, K [1 ]
Koyachi, N [1 ]
机构：
[1] Osaka Univ, Grad Sch Engn Sci, Dept Syst & Human Sci, Suita, Osaka 565, Japan
来源：
CLIMBING AND WALKING ROBOTS | 2001年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A new working robot has been designed and built on the basis of the concept "Limb Mechanism" that integrates functions of legged locomotion and arm manipulation, The developed robot has six limbs that can be used for both locomotion and manipulation. The six limbs are arranged on the vertices of a regular hexagonal body. This symmetrical structure allows the robot to generate gait trajectory in a simple manner even in a narrow environment since it has omni-directional mobility. To evaluate the omni-directional mobility, a stroke and a stability margin are examined in all walking directions during six-legged and four-legged locomotion. Two models are compared in this aspect, then the proto-type robot is designed and built, and finally the gait control strategies are proposed.
引用
收藏
页码：635 / 642
页数：8
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