DocumentCode
2477280
Title
Design and control of hexapod with integrated limb mechanism: MELMANTIS
Author
KOYACHI, Noriho ; Arai, Tatsuo ; Adachi, Hironori ; Murakami, Akira
Author_Institution
Mech. Eng. Lab., Ibaraki, Japan
Volume
2
fYear
1996
fDate
4-8 Nov 1996
Firstpage
877
Abstract
This paper describes the mechanical design and basic control of a prototype hexapod with “integrated limb mechanism”, named MELMANTIS. MELMANTIS uses a six-bar linkage with four degrees of freedom as an example of integrated limb mechanism with both advantages for leg and for arm. The kinematic analysis is done for mechanical design. Basic control program of MELMANTIS is developed to experiment simple walking motion and transformation from a leg into an arm
Keywords
legged locomotion; manipulator kinematics; mobile robots; robot kinematics; MELMANTIS; hexapod robot; integrated limb mechanism; kinematic analysis; six-bar linkage; Actuators; Arm; Leg; Legged locomotion; Manipulators; Mobile robots; Production facilities; Prototypes; Robot kinematics; Robotics and automation;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on
Conference_Location
Osaka
Print_ISBN
0-7803-3213-X
Type
conf
DOI
10.1109/IROS.1996.571068
Filename
571068
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