Firm Standing for Legged Mobile Manipulators

Takashi Tagawa; Yasumichi Aiyama; Hisashi Osumi

doi:10.20965/jrm.2004.p0312

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JRM Vol.16 No.3 pp. 312-318

doi: 10.20965/jrm.2004.p0312

(2004)

Paper:

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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

Received:

October 20, 2003

Accepted:

December 5, 2003

Published:

June 20, 2004

Keywords:

legged mobile manipulator, firm standing, ZMP

Abstract

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:

T. Tagawa, Y. Aiyama, and H. Osumi, “Firm Standing for Legged Mobile Manipulators,” J. Robot. Mechatron., Vol.16 No.3, pp. 312-318, 2004.

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References

[1] K. Nagatani and S. Yuta, “An Experiment on Opening-Door-Behavior by an Autonomous Mobile Robot with a Manipulator,” Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’95), pp. 45-50, 1995.
[2] T. Arai, H. Adachi, K. Homma, and N. Koyachi, “Integration of Arm and Leg Mechanism,” Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’95), pp. 285-290, 1995.
[3] H. Yoshida, K. Inoue, T. Arai, and Y. Mae, “Mobile Manipulation of Humanoid Roberts – A Method of Adjusting Leg Motion for Improvement of Arm’s Manipulability,” Proc. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 268-271, 2001.
[4] D. Zhou, K. H. Low and T. Zielinska, “A Stability Analysis of Walking Robots Based on Leg-end Supporting Moments,” Proc. International Conference on Robotics and Automation, pp. 2834-2839, 2000.
[5] K. Arikawa and S. Hirose, “Development of Quadruped Walking Robot TITAN-VIII,” Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’96), pp. 208-214, 1996.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] K. Nagatani and S. Yuta, “An Experiment on Opening-Door-Behavior by an Autonomous Mobile Robot with a Manipulator,” Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’95), pp. 45-50, 1995.

[2] [2] T. Arai, H. Adachi, K. Homma, and N. Koyachi, “Integration of Arm and Leg Mechanism,” Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’95), pp. 285-290, 1995.

[3] [3] H. Yoshida, K. Inoue, T. Arai, and Y. Mae, “Mobile Manipulation of Humanoid Roberts – A Method of Adjusting Leg Motion for Improvement of Arm’s Manipulability,” Proc. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 268-271, 2001.

[4] [4] D. Zhou, K. H. Low and T. Zielinska, “A Stability Analysis of Walking Robots Based on Leg-end Supporting Moments,” Proc. International Conference on Robotics and Automation, pp. 2834-2839, 2000.

[5] [5] K. Arikawa and S. Hirose, “Development of Quadruped Walking Robot TITAN-VIII,” Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’96), pp. 208-214, 1996.

Firm Standing for Legged Mobile Manipulators

Takashi Tagawa*, Yasumichi Aiyama*, and Hisashi Osumi**

Takashi Tagawa^, Yasumichi Aiyama^, and Hisashi Osumi^**