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Control of walk and manipulation by a hexapod with integrated limb mechanism: MELMANTIS-1

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4 Author(s)
Koyachi, N. ; Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba ; Adachi, H. ; Izumi, M. ; Hirose, T.

Describes dual mode control of walk and manipulation of a prototype hexapod with integrated limb mechanism, named MELMANTIS-1. MELMANTIS-1 uses six-bar linkages with four degrees-of-freedom as an integrated limb mechanism with dual use for a leg and for an arm. Omni-directional drive control is introduced to the hexapod walk with alternative tripod gait. The transformation from hexapod walking style into the combination of dual arms and quadruped platform is introduced. A remote control to handle an object by dual arms is experimented with in a simple application of a trash pitcher.

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Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on  (Volume:4 )

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