[JRSJ Vol.22, No.3, pp.49-55]
A new working robot has been designed and built on the basis of the concept ``Limb Mechanism'' that integrates functions of legged locomotion and arm manipulation. As one of feasible structures of the limb mechanism a six-limbed mechanism will be analyzed and evaluated in the aspects of omni-directional mobility. To evaluate the omni-directional mobility, a stroke and a stability margin are examined in all walking directions during six-legged and four-legged locomotion. The paper introduces two types of structures: radial and parallel arrangement of legs, and compares their stroke and stability in all directions during six-legged locomotion. The radial arrangement model will be proved to have the omni-directional mobility even in four-legged locomotion. Based on this evaluation the proto-type robot is designed and built. The developed robot has radially arranged six limbs that can be used for both locomotion and manipulation. }
Key Words: Omni-directional Mobility・ Integration of Leg and Arm・ Manipulation and Locomotion
[JRSJ Vol.22, No.3, pp.49-55]