Omnidirectional Walking Mechanism : Redundancy and Trajectory Control

Abstract

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 trajectory following control method by switching the normalizing matrix according to the freedom. The simulation results and the experimental results leads to the availability of the method.