DocumentCode
299955
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
Volume
1
fYear
1995
fDate
21-27 May 1995
Firstpage
994
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location
Nagoya
ISSN
1050-4729
Print_ISBN
0-7803-1965-6
Type
conf
DOI
10.1109/ROBOT.1995.525412
Filename
525412
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