TY - GEN
T1 - Integrated limb mechanism of manipulation and locomotion for dismantling robot - Basic concept for control and mechanism -
AU - Koyachi, Noriho
AU - Arai, Tatsuo
AU - Adachi, Hironori
AU - Itoh, Yoshihiro
N1 - Publisher Copyright:
© 1993 IEEE.
PY - 1993
Y1 - 1993
N2 - In the technologies for preventing environmental deterioration, recycling work is considered as important and difficult. To automate unstructured works to dismantle used products into re-usable parts, new robot technique is proposed. "Integrated limb mechanism" is the concept to include both of manipulation and locomotion. In the complicated work of dismantling, the coordinated motion of locomotion and manipulation should be useful. In this paper, the general concept and total frame work for coordinated motion control will be given, first. A mechanism usable to both of locomotion and manipulation will be proposed and analyzed on kinematics, in the second.
AB - In the technologies for preventing environmental deterioration, recycling work is considered as important and difficult. To automate unstructured works to dismantle used products into re-usable parts, new robot technique is proposed. "Integrated limb mechanism" is the concept to include both of manipulation and locomotion. In the complicated work of dismantling, the coordinated motion of locomotion and manipulation should be useful. In this paper, the general concept and total frame work for coordinated motion control will be given, first. A mechanism usable to both of locomotion and manipulation will be proposed and analyzed on kinematics, in the second.
UR - https://www.scopus.com/pages/publications/0002626713
U2 - 10.1109/ICAR.1993.337213
DO - 10.1109/ICAR.1993.337213
M3 - Conference contribution
AN - SCOPUS:0002626713
T3 - Proceedings - 1993 IEEE/Tsukuba International Workshop on Advanced Robotics: Can Robots Contribute to Preventing Environmental Deterioration?, ICAR 1993
SP - 81
EP - 84
BT - Proceedings - 1993 IEEE/Tsukuba International Workshop on Advanced Robotics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 1993 IEEE/Tsukuba International Workshop on Advanced Robotics: Can Robots Contribute to Preventing Environmental Deterioration?, ICAR 1993
Y2 - 8 November 1993 through 9 November 1993
ER -