Study on hexapod robot manipulation using legs

摘要

SUMMARY In order to provide a novel approach for the operational problems of walking robots, this paper presents a method by which a hexapod robot uses its legs to manipulate an object, and this involves the following two steps. First, two adjacent legs are used to manipulate the object. Next, the supporting legs are required to assist the arms to obtain high manipulability. The manipulation constraints, workplaces, and kinematic models are analyzed using screw theories. Moreover, an optimization algorithm is proposed to reduce energy consumption under stability constraints. We also introduce a manipulation control model that simultaneously considers the supporting and operating legs. Finally, the validity of these methods is proved by the results of experiments and simulations.