Firm Standing for Legged Mobile Manipulators
Takashi Tagawa*, Yasumichi Aiyama*, and Hisashi Osumi**
*University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki
**Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo
A mobile manipulator generates external force on its hand when it works, making it unable to conduct work accurately because the robot becomes unstable, unlike human beings, who stand stably despite a large hand force acting on their hands. This uses redundant degrees of freedom (DOF) that freely change the body’s position and orientation even if legs are fixed. We focus on a legged robot as a part of locomotion and propose firm standing using a legged mobile manipulator that tolerates greater hand force while maintaining a stable working position. This report proposes firm standing, analyzes it on a two-dimensional vertical plane and in three-dimensional space, and details experiments that demonstrate its feasibility.
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