Integrated arm and leg mechanism and its kinematic analysis

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...

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Bibliographic Details
Main Authors: Arai, T., Koyachi, N., Adachi, H., Homma, K.
Format: Conference Proceeding
Language:English
Subjects:
Analytical models
Humans
Laboratories
Leg
Legged locomotion
Manipulators
Motion analysis
Motion control
Production facilities
Robot kinematics
Online Access:Request full text
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Description
Summary: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.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.1995.525412