Control of walk and manipulation by a hexapod with integrated limb mechanism: MELMANTIS-1

Describes dual mode control of walk and manipulation of a prototype hexapod with integrated limb mechanism, named MELMANTIS-1. MELMANTIS-1 uses six-bar linkages with four degrees-of-freedom as an integrated limb mechanism with dual use for a leg and for an arm. Omni-directional drive control is introduced to the hexapod walk with alternative tripod gait. The transformation from hexapod walking style into the combination of dual arms and quadruped platform is introduced. A remote control to handle an object by dual arms is experimented with in a simple application of a trash pitcher.