DocumentCode
2240113
Title
Firm standing of legged mobile manipulator
Author
Tagawa, Takashi ; Aiyama, Yasumichi ; Osumi, Hisashi
Author_Institution
Inst. of Eng. Mech. & Syst., Tsukuba Univ., Japan
Volume
2
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
2031
Abstract
In order for a legged mobile manipulator to work, it is essential to change its posture for stable standing in response to the force at the end effector. We define ´firm standing´ as keeping a stable posture in working without moving the positions of the point of contact of legs and end effector. We analyze firm standing and show required degree of freedom for it. We also experiment on it by using redundant d.o.f. in 2-D space.
Keywords
end effectors; legged locomotion; performance index; redundancy; 2D space redundant DOF; end effector; firm standing; legged mobile manipulator; performance index; Analytical models; End effectors; Humans; Leg; Legged locomotion; Manipulators; Mobile robots; Motion analysis; Orbital robotics; Systems engineering and theory;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1241892
Filename
1241892
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