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This paper describes the Six-legged Integrated Locomotion and Manipulation Robot with an omni-directional walking mechanism and 4 d.o.f. manipulator. The walking mechanism consists of a parallel link mechanism connecting the two frames with three linear actuators, and this robot has six extendable legs and can move in any direction. The relative position and angle of the two frames are selected arbitrarily in accordance with the length of three actuators. Walking mechanism is composed by combining them with extendable legs. We show the locomotion mechanism and posture control method of this robot in the first half of this paper and the cooperative motion between the locomotion function and manipulation function in the latter half. Walking, inclination control, cooperative motion experiments, were performed with experimental prototype model, and desired movement is attained.

Posture Control of Six-Legged Integrated Locomotion and Manipulation Robot