Hexapod with integrated limb mechanism of leg and arm

Koyachi, Noriho; Arai, Tatsuo; Adachi, H.; Asami, Keisuke; Itoh, Y.

doi:10.1109/robot.1995.525550

Cited by 35 publications

(13 citation statements)

References 6 publications

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“…This robot mimics the control and movement of insects pertaining to their legs. Koyachi et al [18] presented a concept of "limb mechanism, " which consists of links and joints that interface the body of the robot with the ground. Inoue et al [19] presented an approach to improve the maneuverability of the arm by adjusting the motion of the legs.…”

Section: Introductionmentioning

confidence: 99%

Design of Self-Reconfigurable Multiarm Robot Mechanism Based on Deployable Kinematic Chains

Zhao

Guo

et al. 2020

Chin. J. Mech. Eng.

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As the structures of multiarm robots are serially arranged, the packaging and transportation of these robots are often inconvenient. The ability of these robots to operate objects must also be improved. Addressing this issue, this paper presents a type of multiarm robot that can be adequately folded into a designed area. The robot can achieve different operation modes by combining different arms and objects. First, deployable kinematic chains (DKCs) are designed, which can be folded into a designated area and be used as an arm structure in the multiarm robot mechanism. The strategy of a platform for storing DKCs is proposed. Based on the restrictions in the storage area and the characteristics of parallel mechanisms, a class of DKCs, called base assembly library, is obtained. Subsequently, an assembly method for the synthesis of the multiarm robot mechanism is proposed, which can be formed by the connection of a multiarm robot mechanism with an operation object based on a parallel mechanism structure. The formed parallel mechanism can achieve a reconfigurable characteristic when different DKCs connect to the operation object. Using this method, two types of multiarm robot mechanisms with four DKCs that can switch operation modes to perform different tasks through autonomous combination and release operation is proposed. The obtained mechanisms have observable advantages when compared with the traditional mechanisms, including optimizing the occupied volume during transportation and using parallel mechanism theory to analyze the switching of operation modes.

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Section: Introductionmentioning

confidence: 99%

Design of Self-Reconfigurable Multiarm Robot Mechanism Based on Deployable Kinematic Chains

Zhao

Guo

et al. 2020

Chin. J. Mech. Eng.

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show abstract

“…Lewinger et al also created a small ant inspired hexapod robot and simply introduced the performance of their BILL-Ant-p robot in [15]. In 1995, Koyachi et al [16,17] proposed the concept of Integrated Limb Mechanism (ILM) which tries to integrate the functions of leg and arm into one limb in order to omit additional manipulator. Later, they developed two prototypes of "MELMANTIS-1" and "MELMANTIS-2" [18,19].…”

Section: Introductionmentioning

confidence: 99%

Object carrying of hexapod robots with integrated mechanism of leg and arm

Deng

Xin

Zhong

et al. 2018

Robotics and Computer-Integrated Manufacturing

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Hexapod robots are easy to realize walking in complicated environments and have highly redundant property. It is well worth taking advantage of hexapod robots' versatility, such as using legs to do manipulation or carry objects. In this paper, several methods are proposed to deal with issues of carrying objects by transforming one or two legs as arms while walking with the other legs for hexapod robots. Firstly, we suggest practical gaits for one-legged carrying and two-legged carrying respectively. Secondly, problems existing in gait planning, for instance how to estimate the mass of object and how to calculate joint motion according to desired center of gravity (COG) trajectory, are solved by dynamic analysis and kinematic method based on COG Jacobian. Finally, the effective of our methods to implement carrying objects is demonstrated by two successful experiments of carrying a bottle of water and a box.

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“…Inspired by some insects that use legs as arms to manipulate their food, hexapod robots can offer superior flexibility using integrated leg and arm mechanisms [3][4][5][6][7][8][9]. In [3,4], the concept of ILM (integrated limb mechanism) was presented. A six-bar linkage mechanism with 4-DOF used for manipulation and locomotion was verified [3,4].…”

Section: Introductionmentioning

confidence: 99%

“…In [3,4], the concept of ILM (integrated limb mechanism) was presented. A six-bar linkage mechanism with 4-DOF used for manipulation and locomotion was verified [3,4]. Later, two prototypes, "MELMANTIS-1" and "MEL-MANTIS-2" were developed [5,6].…”

Section: Introductionmentioning

confidence: 99%

Hierarchical Kinematic Modelling and Optimal Design of a Novel Hexapod Robot with Integrated Limb Mechanism

Xin

Deng

Zhong

et al. 2015

International Journal of Advanced Robotic Systems

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This paper presents a novel hexapod robot, hereafter named PH-Robot, with three degrees of freedom (3-DOF) parallel leg mechanisms based on the concept of an integrated limb mechanism (ILM) for the integration of legged locomotion and arm manipulation. The kinematic model plays an important role in the parametric optimal design and motion planning of robots. However, models of parallel mechanisms are often difficult to obtain because of the implicit relationship between the motions of actuated joints and the motion of a moving platform. In order to derive the kinematic equations of the proposed hexapod robot, an extended hierarchical kinematic modelling method is proposed. According to the kinematic model, the geometrical parameters of the leg are optimized utilizing a comprehensive objective function that considers both dexterity and payload. PH-Robot has distinct advantages in accuracy and load ability over a robot with serial leg mechanisms through the former's comparison of performance indices. The reachable workspace of the leg verifies its ability to walk and manipulate. The results of the trajectory tracking experiment demonstrate the correctness of the kinematic model of the hexapod robot.

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Hexapod with integrated limb mechanism of leg and arm

Cited by 35 publications

References 6 publications

Design of Self-Reconfigurable Multiarm Robot Mechanism Based on Deployable Kinematic Chains

Design of Self-Reconfigurable Multiarm Robot Mechanism Based on Deployable Kinematic Chains

Object carrying of hexapod robots with integrated mechanism of leg and arm

Hierarchical Kinematic Modelling and Optimal Design of a Novel Hexapod Robot with Integrated Limb Mechanism

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