摘要
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.
| 源语言 | 英语 |
|---|---|
| 页 | 877-882 |
| 页数 | 6 |
| 出版状态 | 已出版 - 1996 |
| 已对外发布 | 是 |
| 活动 | Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) - Osaka, Jpn 期限: 4 11月 1996 → 8 11月 1996 |
会议
| 会议 | Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) |
|---|---|
| 市 | Osaka, Jpn |
| 时期 | 4/11/96 → 8/11/96 |
指纹
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Koyachi, N., Arai, T., Adachi, H., & Murakami, A. (1996). Design and control of hexapod with integrated limb mechanism: MELMANTIS. 877-882. 论文发表于 Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3), Osaka, Jpn.