Coordinating multilimbed robots for generating large Cartesian force

Two coordination methods to enable a multilimbed robot to generate large Cartesian forces are presented. The first method selects an optimal configuration for the arm in terms of the force generation, regardless of the position where the force needs to be applied. The position and orientation of the main body are then adjusted to make the end-effector reach the required position. The second method treats the multilimbed robot as a single robotic system and applies the nonlinear programming technique to the system. As a result, optimal configurations are obtained for both the arm and mainbody at the same time