書誌事項
- タイトル別名
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- Design and Kinematic Analysis of a Robot with Integrated Locomotion and Manipulation Capable of Taking Variable Postures.
- シセイ センイ カノウ ナ サギョウ イドウ ロボット ノ セッケイ ト ソノ
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抄録
This paper discusses design and control issues for a robot with integrated locomotion and manipulation which can take various postures. This work is motivated by the fact that persons can take various postures and can work while being in those postures. We show a prototype of four legged twelve joint robot employing timing-belt mechanism. Each leg can be used as a manipulator when it is free from providing the support to the body of the robot. At most two legs are free when the robot stands on its knees. This paper formulates feasible motions of the robot maintaining contact with a supporting plane or the floor. This kinematic analysis is useful to determine whether the robot needs to lift its legs in order to change its postures or not.
収録刊行物
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- 日本機械学会論文集Ｃ編
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日本機械学会論文集Ｃ編 64 (623), 2582-2588, 1998
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390282681304792192
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- NII論文ID
- 110002383866
- 130004232843
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- NII書誌ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- NDL書誌ID
- 4535151
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可