Cooperative motion control of a six-legged walking robot equipped with a manipulator

This paper describes an omni-directional walking robot equipped with a 4 DOF manipulator. The walking mechanism consists of a parallel link mechanism connecting the two frames with three linear actuators and six extendable legs fixed to the frames. This working robot is a redundant mechanism with 10 DOF since the manipulator has 4 DOF and walking mechanism has 6. The walking mechanism and the control method of this robot are presented in this paper. Cooperative motion control experiments of the leg and the manipulator were performed with an experimental prototype model, and desired movement was attained.