Integrated arm and leg mechanism and its kinematic analysis

作者：Tatsuo Arai, Noriho Koyachi, H. Adachi, Keiko Homma · 年份：2002 · DOI：10.1109/robot.1995.525412 · 被引用次数：37 · 研究领域：Robotic Mechanisms and Dynamics、Robot Manipulation and Learning、Space Satellite Systems and Control

The concept of "limb mechanism" is proposed, consisting of several common link mechanisms which can be used for either arm or leg, selectively. Integrated kinematics is introduced for r legs and one arm mechanism. Based on the derived kinematics evaluation criteria are introduced in order to design the mechanism itself as well as a motion controller. Simulation results show how the proposed methods work effectively to analyze motion of the integrated mechanism.