Omni-directional Locomotion of Robots with Limb Mechanism

摘要

A new working robot has been designed and built on the basis of the concept“Limb Mechanism”that integrates functions of legged locomotion and arm manipulation. As one of feasible structures of the limb mechanism a six-limbed mechanism will be analyzed and evaluated in the aspects of omni-directional mobility. To evaluate the omni-directional mobility, a stroke and a stability margin are examined in all walking directions during six-legged and four-legged locomotion. The paper introduces two types of structures: radial and parallel arrangement of legs, and compares their stroke and stability in all directions during six-legged locomotion. The radial arrangement model will be proved to have the omni-directional mobility even in four-legged locomotion. Based on this evaluation the proto-type robot is designed and built. The developed robot has radially arranged six limbs that can be used for both locomotion and manipulation.