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Development of integrated hand-foot function is the inevitable choice for the practical application of multi-legged robots. In this paper, a new type of robot which has the structure of multi-legged walking robot based on hand-foot-integration is introduced. Kinematics relations between walking and grasping states of robot are described. The inverse kinematic is analysed in details. Firstly, the parameters...
Determining precisely the motion of robot body is of great significance to the location and control of mobile robots. If the positions of each foothold and the driven joint variables are inaccurate, actual posture of the robot is likely to deviate from its required position. If the expected accuracy of robot's locus is given, the robot can walk under expectation by controlling the accuracy of driven...
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