JRM Vol.16 No.3 pp. 312-318
doi: 10.20965/jrm.2004.p0312


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

October 20, 2003
December 5, 2003
June 20, 2004
legged mobile manipulator, firm standing, ZMP

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.

Cite this article as:
Takashi Tagawa, Yasumichi Aiyama, and Hisashi Osumi, “Firm Standing for Legged Mobile Manipulators,” J. Robot. Mechatron., Vol.16, No.3, pp. 312-318, 2004.
Data files:
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Last updated on Mar. 05, 2021