抄録
A working six-legged robot which can switch three modes for locomotion and manipulation is developed. In six-leg mode, the robot walks using six legs fast and stably by omni-directional tripod gait. In horizontal four-leg two-arm mode, four legs are used for locomotion and two legs for manipulation with its body horizontal to the ground. This mode enables the robot to manipulate objects using the front legs at low level, while supporting the body using the four legs stably. In vertical four-leg two-arm mode, the robot stands up. Four legs are used for locomotion and two legs for manipulation with its body vertical to the ground. This mode enables the robot to manipulate objects using the upper legs at higher level. In this way this robot has high mobility and manipulation ability. Omni-directional tripod gait in six-leg mode by teleoperation, dual arm manipulation in both two-arm modes by teleoperation and transitions between the three modes are implemented and tested.
