2002年
Control of walk and manipulation by a hexapod with Integrated Limb Mechanism: MELMANTIS-1
2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS
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- 開始ページ
- 3553
- 終了ページ
- 3558
- 記述言語
- 英語
- 掲載種別
- 研究論文（国際会議プロシーディングス）
- 出版者・発行元
- IEEE
This paper describes on a dual mode control of walk and manipulation of a prototype hexapod with "Integrated Limb Mechanism," named "MELMINTIS-1."
MELMANTIS-1 uses the six-bar linkages with four degrees-of-freedom as an integrated limb mechanism with dual use for a leg and for an arm.
The omni-directional drive control is introduced to the hexapod walk with alternative tripod gait.
The new transformation way from hexapod walking style into the combination of dual arms and quadruped platform is introduced.
A remote control to handle an object by dual arms is experimented in a simple application of trash pitcher.
MELMANTIS-1 uses the six-bar linkages with four degrees-of-freedom as an integrated limb mechanism with dual use for a leg and for an arm.
The omni-directional drive control is introduced to the hexapod walk with alternative tripod gait.
The new transformation way from hexapod walking style into the combination of dual arms and quadruped platform is introduced.
A remote control to handle an object by dual arms is experimented in a simple application of trash pitcher.
- リンク情報
- ID情報
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- Web of Science ID : WOS:000178573200561