Quadruped robot which can take various postures

Toru Omata*, Eiichiro Tanaka

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

4 Citations (Scopus)


We developed a quadruped robot which can take various postures, e.g. lying on the floor and standing on the knees. When the limbs are free from supporting the body of the robot, they can serve as arms. Up to two limbs can be freed from supporting the body when the robot stands on the knees. The motion of the robot is constrained if it maintains current contact with the floor. This paper analyzes possible motions of the robot to maintain current contact. We show that even if the same parts of the robot are in contact with the floor, there exist singular postures at which the body of the robot has an additional degree of freedom.

Original languageEnglish
Pages (from-to)2366-2371
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 1999 Jan 1
Externally publishedYes
EventProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
Duration: 1999 May 101999 May 15

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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