Walk and Manipulation by a Hexapod with Integrated Limb Mechanism of Leg & Arm -Configuration Change of Body and Limbs for Dual Arm Manipulation-

摘要

The authors developed a prototype hexapod with integrated limb mechanism, named“MELMANTIS-1.” MELMANTIS-1 uses a six-bar linkage with four degrees of freedom as an example of integrated limb mechanism with features fittable to both of leg and arm. This paper describes the multimodal control of MELMANTIS-1 for legged mobile manipultion. Seven control modes are developed for MELMANTIS-1; hexapod omni-directional walk on flat floor, hexapod omni-directional walk on rugged terrain, transformation between leg posture and lift-upped arm posture, transformation of configuration with the body and legs between radially symmetric hexapod and side-by-side symmetric quadruped with dual arm, object manipulation by dual arm, quadruped walk with handling an object, and individual joint control of single leg. All control modes are commanded by a human operator's numerical keypad input. Human operator can select the control modes depending on the situation of robot and can achieve various tasks. Especially, the configuration change of the body and legs, between radially symmetric hexapod and side-byside symmetric quadruped with dual arm, is strikingly effective to enhance the working performance of multi-legged robot including both of mobility and manupulability.