Name
Title | ||
|---|---|---|
Control of walk and manipulation by a hexapod with integrated limb mechanism: MELMANTIS-1 |
Abstract | ||
|---|---|---|
Describes dual mode control of walk and manipulation of a prototype hexapod with integrated limb mechanism, named MELMANTIS-1. MELMANTIS-1 uses six-bar linkages with four degrees-of-freedom as an integrated limb mechanism with dual use for a leg and for an arm. Omni-directional drive control is introduced to the hexapod walk with alternative tripod gait. The transformation from hexapod walking style into the combination of dual arms and quadruped platform is introduced. A remote control to handle an object by dual arms is experimented with in a simple application of a trash pitcher. |
Year | DOI | Venue |
|---|---|---|
2002 | 10.1109/ROBOT.2002.1014260 | Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference |
Keywords | Field | DocType |
legged locomotion,manipulators,robot kinematics,telerobotics,MELMANTIS-1,dual mode control,hexapod,integrated limb mechanism,legged mobile manipulator,manipulation,omni-directional drive control,quadruped platform,remote control,tripod gait,walk | Remote control,Linkage (mechanical),Gait,Control theory,Simulation,Robot kinematics,Control engineering,Engineering,Mode control,Hexapod,Tripod (photography),Telerobotics | Conference |
Volume | ISBN | Citations |
4 | 0-7803-7272-7 | 4 |
PageRank | References | Authors |
0.58 | 4 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Koyachi, N. | 1 | 4 | 0.58 |
| Adachi, H. | 2 | 4 | 0.58 |
| Izumi, M. | 3 | 4 | 0.58 |
| Hirose, T. | 4 | 4 | 0.58 |