Title :
Firm standing of legged mobile manipulator
Author :
Tagawa, Takashi ; Aiyama, Yasumichi ; Osumi, Hisashi
Author_Institution :
Inst. of Eng. Mech. & Syst., Tsukuba Univ., Japan
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;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1241892
