Title :
Integrated arm and leg mechanism and its kinematic analysis
Author :
Arai, Tatsuo ; KOYACHI, Noriho ; Adachi, Hironori ; Homma, Keiko
Author_Institution :
Dept. of Robotics, AIST, MITI, Ibaraki, Japan
Abstract :
The concept of “limb mechanism” is proposed, consisting of several common link mechanisms which can be used for either arm or leg, selectively. Integrated kinematics is introduced for r legs and one arm mechanism. Based on the derived kinematics evaluation criteria are introduced in order to design the mechanism itself as well as a motion controller. Simulation results show how the proposed methods work effectively to analyze motion of the integrated mechanism
Keywords :
legged locomotion; manipulator kinematics; mobile robots; robot kinematics; integrated arm/leg mechanism; kinematic analysis; limb mechanism; motion controller; Analytical models; Humans; Laboratories; Leg; Legged locomotion; Manipulators; Motion analysis; Motion control; Production facilities; Robot kinematics;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525412
