Design and control of hexapod with integrated limb mechanism: MELMANTIS

Noriho Koyachi; Tatsuo Arai; Hironori Adachi; Akira Murakami

Design and control of hexapod with integrated limb mechanism: MELMANTIS

Noriho Koyachi^*, Tatsuo Arai, Hironori Adachi, Akira Murakami

^*Corresponding author for this work

National Institute of Advanced Industrial Science and Technology

Research output: Contribution to conference › Paper › peer-review

15 Citations (Scopus)

Abstract

This paper describes the mechanical design and basic control of a prototype hexapod with 'Integrated Limb Mechanism,' named 'MELMANTIS.' MELMANTIS uses a six-bar linkage with four degrees-of-freedom as an example of integrated limb mechanism with both advantages for leg and for arm. The kinematic analysis is done for mechanical design. Basic control program of MELMANTIS is developed to experiment simple walking motion and transformation from a leg into an arm.

Original language	English
Pages	877-882
Number of pages	6
Publication status	Published - 1996
Externally published	Yes
Event	Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) - Osaka, Jpn Duration: 4 Nov 1996 → 8 Nov 1996

Conference

Conference	Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3)
City	Osaka, Jpn
Period	4/11/96 → 8/11/96

Cite this

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title = "Design and control of hexapod with integrated limb mechanism: MELMANTIS",

abstract = "This paper describes the mechanical design and basic control of a prototype hexapod with 'Integrated Limb Mechanism,' named 'MELMANTIS.' MELMANTIS uses a six-bar linkage with four degrees-of-freedom as an example of integrated limb mechanism with both advantages for leg and for arm. The kinematic analysis is done for mechanical design. Basic control program of MELMANTIS is developed to experiment simple walking motion and transformation from a leg into an arm.",

author = "Noriho Koyachi and Tatsuo Arai and Hironori Adachi and Akira Murakami",

year = "1996",

language = "English",

pages = "877--882",

note = "Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) ; Conference date: 04-11-1996 Through 08-11-1996",

}

TY - CONF

T1 - Design and control of hexapod with integrated limb mechanism

T2 - Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3)

AU - Koyachi, Noriho

AU - Arai, Tatsuo

AU - Adachi, Hironori

AU - Murakami, Akira

PY - 1996

Y1 - 1996

N2 - This paper describes the mechanical design and basic control of a prototype hexapod with 'Integrated Limb Mechanism,' named 'MELMANTIS.' MELMANTIS uses a six-bar linkage with four degrees-of-freedom as an example of integrated limb mechanism with both advantages for leg and for arm. The kinematic analysis is done for mechanical design. Basic control program of MELMANTIS is developed to experiment simple walking motion and transformation from a leg into an arm.

AB - This paper describes the mechanical design and basic control of a prototype hexapod with 'Integrated Limb Mechanism,' named 'MELMANTIS.' MELMANTIS uses a six-bar linkage with four degrees-of-freedom as an example of integrated limb mechanism with both advantages for leg and for arm. The kinematic analysis is done for mechanical design. Basic control program of MELMANTIS is developed to experiment simple walking motion and transformation from a leg into an arm.

UR - http://www.scopus.com/inward/record.url?scp=0030395628&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:0030395628

SP - 877

EP - 882

Y2 - 4 November 1996 through 8 November 1996

ER -

Design and control of hexapod with integrated limb mechanism: MELMANTIS

Abstract

Conference

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