DocumentCode
339268
Title
A quadruped robot which can take various postures
Author
Omata, Tom ; Tanaka, Eiichiro
Author_Institution
Tokyo Inst. of Technol., Yokohama, Japan
Volume
3
fYear
1999
fDate
1999
Firstpage
2366
Abstract
We developed a quadruped robot which can take various postures, e.g. lying on the floor and kneeling. When the limbs are free from supporting the body of the robot, they can serve as arms. Up to two limbs can be freed from supporting the body when the robot kneels. The motion of the robot is constrained if it maintains current contact with the floor. The paper analyzes possible motions of the robot to maintain current contact. We show that even if the same parts of the robot are in contact with the floor, there exist singular postures at which the body of the robot has an additional degree of freedom
Keywords
force control; legged locomotion; motion control; robot kinematics; singular value decomposition; constrained motion; quadruped robot; singular postures; Belts; Kinematics; Knee; Leg; Legged locomotion; Manipulators; Motion analysis; Robots; Stability; Timing;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location
Detroit, MI
ISSN
1050-4729
Print_ISBN
0-7803-5180-0
Type
conf
DOI
10.1109/ROBOT.1999.770459
Filename
770459
Link To Document