T. Fukuda et al., OMNIDIRECTIONAL WALKING MECHANISM (REDUNDANCY AND TRAJECTORY CONTROL), JSME international journal. Series C, mechanical systems, machine elements and manufacturing, 40(4), 1997, pp. 694-701
This paper deals with a multiple mobile working robot, which has a six
-legged locomotion function and a vertically articulated manipulator,
The walking mechanism consists of a parallel link mechanism connecting
two frames with three linear actuators and six extendable legs fixed
to the frames. The manipulation function has 4 degrees of freedom and
locomotion function has 6 degrees of freedom, thus this working robot
is a redundant mechanism with 10 degrees of freedom. We propose a traj
ectory following control method by switching the normalizing matrix ac
cording to the freedom. The simulation results and the experimental re
sults leads to the availability of the method.