Integrated arm and leg mechanism and its kinematic analysis

Tatsuo Arai*, Noriho Koyachi, Hironori Adachi, Keiko Homma

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

34 Citations (Scopus)

Abstract

The concept of 'limb mechanism' is proposed, consisting of several common link mechanisms which can be used for either arm or leg, selectively. Integrated kinematics is introduced for r legs and one arm mechanism. Based on the derived kinematics evaluation criteria are introduced in order to design mechanism itself as well as motion controller. Simulation results show how the proposed methods work effectively to analyze motion of integrated mechanism.

Original languageEnglish
Pages (from-to)994-999
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
Publication statusPublished - 1995
Externally publishedYes
EventProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
Duration: 21 May 199527 May 1995

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