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Rotation is one of efficient transportation methods for big or heavy object. For implementing the rolling operation to the small and light weight robot, it is necessary to consider the movable range of the robot, balance, actuator power and friction control. In this paper, we propose a new method of forward and backward rolling manipulation by using whole body motion for multi-legged robot. To control...
In this paper, we propose a new rotational manipulation by using whole body weight for multi-legged robot. A heavy object can be efficiently moved by putting the robot weight it, and the rotational operation is one of efficient transportation method for big or heavy object. For implementing the operation to the small and light weight robot, the weight-shift control is necessary considering its movable...
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