Development of Working Six-Legged Robots Capable of Switching Three Modes

点击翻译按钮获取中文摘要

A working six-legged robot which can switch three modes is developed. Three modes enhance mobility and working ability of the robot. The following functions are implemented and tested. In six-leg mode, omni-directional walking with six legs, obstacle avoidance with ultrasonic sensors, climbing up/down steps and climbing up steep slope. In horizontal four-leg two-arm mode where two front legs are used as arms with the body horizontal to the ground, omni-directional walking with four legs and low-level manipulation with two arms. In vertical four-leg two arm mode where two upper legs are used as arms with the body vertical to the ground, walking upright with four legs, high-level manipulation with two arms and large object pushing.