Integrated limb mechanism of manipulation and locomotion for dismantling robot-basic concept for control and mechanism

In the technologies for preventing environmental deterioration, recycling work is considered as important and difficult. To automate unstructured works to dismantle used products into re-usable parts, new robot technique is proposed. “Integrated limb mechanism” is the concept to include both of manipulation and locomotion. In the complicated work of dismantling, the coordinated motion of locomotion and manipulation should be useful. In this paper, the general concept and total framework for coordinated motion control will be given, first. A mechanism usable to both of locomotion and manipulation will be proposed and analyzed on kinematics, second