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

^*此作品的通讯作者

National Institute of Advanced Industrial Science and Technology

科研成果: 会议稿件 › 论文 › 同行评审

15 引用（Scopus）

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

其它文件与链接

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引用此

@conference{d000c23772c44364923180076bed0bd7,

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 - https://www.scopus.com/pages/publications/0030395628

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

摘要

会议

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