4족 보행로봇의 동적 조작도 해석

Abstract

This paper deals with a manipulability analysis of multi-legged walking robots in acceleration domain, that is the dynamic manipulability analysis of walking robot. Noting that the kinematic structure of the walking robot is basically the same with that of the multiple serial robot system holding one object, the analysis method for cooperating robot is converted to that of walking robot. With the proposed method, the bound of achievable acceleration of the moving body is easily derived from the given bounds on the capabilities of joint torques. Several walking robot examples are analyzed with proposed method under the assumption of hard contact, and presented in the paper to validate the method.