Design and control of a manipulator arm for a walking robot

Many hazardous environments require walking machines which can carry out real work in the event of an emergency. In order to perform these works the machines have to be equipped with light-weight manipulators capable of working with relatively high payloads. In the paper issues associated with the design and control of such manipulators are addressed. This paper is based on the authors´ experience with design of a manipulator for the Robug III articulated limb walking robot