複数マニピュレータ群としての歩行制御法 [in Japanese] Control Method of Walking Robot as Plural Manipulators System [in Japanese]
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Considering walking robot's legs as manipulators, the multi-legged walking robot can be treated as grasping manipulators. It means to separate the multi-legged walking robot into body part and leg parts. The body part is rigid and it is forced to move by legs. The leg part is a set of manipulators, which give some forces to the body part. In this point of view, we can treat multi-legged walking robot's problem as dextrous manipulation, which realizes desired body motion. In this paper, we propose a method of force-torque distribution of walking robot's legs.
JRSJ 17(3), 416-422, 1999-04-15
The Robotics Society of Japan