Abstract
Limb mechanism robot "ASTERISK" has six limbs which can be used both as arms and legs. Hence it has high terrain adaptability and high manipulation ability. As an example of mobile manipulation, the present paper describes carrying task for ASTERISK. We focus on "two neighboring arms form" and "two opposite arms form", and analyze their walking ability and manipulation ability. Applying two neighboring arms form to picking-up phase and two opposite arms form to cayying phase, we attained stable and efficient carrying task by ASTERISK.
