Control of a manipulator mounted on a quadruped

Hironori Adachi; Noriho Koyachi; Tatsuo Arai; Ken ichiro Nishimura

Control of a manipulator mounted on a quadruped

Hironori Adachi^*
, Noriho Koyachi
, Tatsuo Arai
, Ken ichiro Nishimura

^*Corresponding author for this work

National Institute of Advanced Industrial Science and Technology

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

5 Citations (Scopus)

Abstract

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.

Original language	English
Pages	883-888
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 = "Control of a manipulator mounted on a quadruped",

abstract = "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.",

author = "Hironori Adachi and Noriho Koyachi and Tatsuo Arai and Nishimura, \{Ken ichiro\}",

year = "1996",

language = "English",

pages = "883--888",

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",

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TY - CONF

T1 - Control of a manipulator mounted on a quadruped

AU - Adachi, Hironori

AU - Koyachi, Noriho

AU - Arai, Tatsuo

AU - Nishimura, Ken ichiro

PY - 1996

Y1 - 1996

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/0030385328

M3 - Paper

AN - SCOPUS:0030385328

SP - 883

EP - 888

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

Y2 - 4 November 1996 through 8 November 1996

ER -

Control of a manipulator mounted on a quadruped

Abstract

Conference

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