Hexapod with integrated limb mechanism of leg and arm

Noriho Koyachi; Tatsuo Arai; Hironori Adachi; Ken ichi Asami; Yoshihiro Itoh

doi:10.1109/ROBOT.1995.525550

Hexapod with integrated limb mechanism of leg and arm

Noriho Koyachi^*, Tatsuo Arai, Hironori Adachi, Ken ichi Asami, Yoshihiro Itoh

^*Corresponding author for this work

National Institute of Advanced Industrial Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

41 Citations (Scopus)

Abstract

This paper provides a new concept for the integration of locomotion and manipulation, 'the Integrated Limb Mechanism.' The concept covers the technical fields both of the control integration and of the mechanism integration necessary for the practical working robot. Here, a six-bar linkage mechanism with four degrees-of-freedom is introduced as an example of integrated limb mechanism with both advantages for leg and for arm. Computer simulation with dynamic model is performed to verify the transformability from leg posture into arm posture of this mechanism. The kinematic analysis is done for this mechanism, and it is suggested that the kinematic analysis is useful for the geometric and mechanical design. Possibility of dual arms or triple arm work is analyzed.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	IEEE
Pages	1952-1957
Number of pages	6
ISBN (Print)	0780319656
DOIs	https://doi.org/10.1109/ROBOT.1995.525550
Publication status	Published - 1995
Externally published	Yes
Event	Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn Duration: 21 May 1995 → 27 May 1995

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2
ISSN (Print)	1050-4729

Conference

Conference	Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3)
City	Nagoya, Jpn
Period	21/05/95 → 27/05/95

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10.1109/ROBOT.1995.525550

Cite this

Koyachi, N., Arai, T., Adachi, H., Asami, K. I., & Itoh, Y. (1995). Hexapod with integrated limb mechanism of leg and arm. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 1952-1957). (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2). IEEE. https://doi.org/10.1109/ROBOT.1995.525550

@inproceedings{7ce1b9b6e32647178959af7a7f92689e,

title = "Hexapod with integrated limb mechanism of leg and arm",

abstract = "This paper provides a new concept for the integration of locomotion and manipulation, 'the Integrated Limb Mechanism.' The concept covers the technical fields both of the control integration and of the mechanism integration necessary for the practical working robot. Here, a six-bar linkage mechanism with four degrees-of-freedom is introduced as an example of integrated limb mechanism with both advantages for leg and for arm. Computer simulation with dynamic model is performed to verify the transformability from leg posture into arm posture of this mechanism. The kinematic analysis is done for this mechanism, and it is suggested that the kinematic analysis is useful for the geometric and mechanical design. Possibility of dual arms or triple arm work is analyzed.",

author = "Noriho Koyachi and Tatsuo Arai and Hironori Adachi and Asami, {Ken ichi} and Yoshihiro Itoh",

year = "1995",

doi = "10.1109/ROBOT.1995.525550",

language = "English",

isbn = "0780319656",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "IEEE",

pages = "1952--1957",

booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

note = "Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) ; Conference date: 21-05-1995 Through 27-05-1995",

}

Koyachi, N, Arai, T, Adachi, H, Asami, KI & Itoh, Y 1995, Hexapod with integrated limb mechanism of leg and arm. in Proceedings - IEEE International Conference on Robotics and Automation. Proceedings - IEEE International Conference on Robotics and Automation, vol. 2, IEEE, pp. 1952-1957, Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3), Nagoya, Jpn, 21/05/95. https://doi.org/10.1109/ROBOT.1995.525550

Hexapod with integrated limb mechanism of leg and arm. / Koyachi, Noriho; Arai, Tatsuo; Adachi, Hironori et al.
Proceedings - IEEE International Conference on Robotics and Automation. IEEE, 1995. p. 1952-1957 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Hexapod with integrated limb mechanism of leg and arm

AU - Koyachi, Noriho

AU - Arai, Tatsuo

AU - Adachi, Hironori

AU - Asami, Ken ichi

AU - Itoh, Yoshihiro

PY - 1995

Y1 - 1995

N2 - This paper provides a new concept for the integration of locomotion and manipulation, 'the Integrated Limb Mechanism.' The concept covers the technical fields both of the control integration and of the mechanism integration necessary for the practical working robot. Here, a six-bar linkage mechanism with four degrees-of-freedom is introduced as an example of integrated limb mechanism with both advantages for leg and for arm. Computer simulation with dynamic model is performed to verify the transformability from leg posture into arm posture of this mechanism. The kinematic analysis is done for this mechanism, and it is suggested that the kinematic analysis is useful for the geometric and mechanical design. Possibility of dual arms or triple arm work is analyzed.

AB - This paper provides a new concept for the integration of locomotion and manipulation, 'the Integrated Limb Mechanism.' The concept covers the technical fields both of the control integration and of the mechanism integration necessary for the practical working robot. Here, a six-bar linkage mechanism with four degrees-of-freedom is introduced as an example of integrated limb mechanism with both advantages for leg and for arm. Computer simulation with dynamic model is performed to verify the transformability from leg posture into arm posture of this mechanism. The kinematic analysis is done for this mechanism, and it is suggested that the kinematic analysis is useful for the geometric and mechanical design. Possibility of dual arms or triple arm work is analyzed.

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U2 - 10.1109/ROBOT.1995.525550

DO - 10.1109/ROBOT.1995.525550

M3 - Conference contribution

AN - SCOPUS:0029202885

SN - 0780319656

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 1952

EP - 1957

BT - Proceedings - IEEE International Conference on Robotics and Automation

PB - IEEE

T2 - Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3)

Y2 - 21 May 1995 through 27 May 1995

ER -

Hexapod with integrated limb mechanism of leg and arm

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