@inbook{7e2e342737114b179ab851b1179b29a4,
title = "Mechanical design of a hexapod with integrated limb mechanism: MELMANTIS",
abstract = "This paper describes the mechanical design 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. Manipulatability ellipsoids are used to compare the foot tip velocity in different linkage dimensions in kinematic analysis. Several items on leg and body configuration design are taken into account for a hexapod with the transformable legs into arms. Basic motion of MELMANTIS is experimented to verify the transformation of a leg mechanism into an arm.",
author = "Noriho Koyachi and Hironori Adachi and Tatsuo Arai and Akira Murakami",
year = "1996",
language = "English",
series = "Proceedings of the Japan/USA Symposium on Flexible Automation",
pages = "139--144",
editor = "K. Stelson and F. Oba",
booktitle = "Proceedings of the Japan/USA Symposium on Flexible Automation",
note = "Proceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2) ; Conference date: 07-07-1996 Through 10-07-1996",
}