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Development of integrated hand-foot function is the inevitable choice for the practical application of multi-legged robots. In this paper, a new type of robot which has the structure of multi-legged walking robot based on hand-foot-integration is introduced. Kinematics relations between walking and grasping states of robot are described. The inverse kinematic is analysed in details. Firstly, the parameters expression of standing state of robot is derived from the constrain of the robot structure. Secondly, the kinematics relation of serial manipulator with grasping function is researched. Finally, the inverse kinematics of robot in grasping object is obtained. The relevant formula is deduced in this paper, and the formula expression is given. The analysis process is last verified through a numerical example. The model can be used for motion control of robot.