Control of a manipulator mounted on a quadruped

This paper describes a control method of a manipulator mounted on a quadruped walking robot. One of the advantages of legged robots is the capability to change the body position and posture without changing the foot points. When a manipulator is mounted on a legged robot, it obtains extra motion from the body. By coordinating leg motion and manipulator motion, the end-effector has more sophisticated motion. When six degrees of freedom velocity command of the end-effector is supplied, the proposed control method gives each joint velocity of the manipulator and the legs. This control method is experimentally evaluated using actual robot.