1A1-P24 Development of SAURUS I: Lizard-like Mobile Robot : 1st Report: Approach for Lizard-like Robot for both Locomotion and Manipulation(Mobile Manipulation Robot)

Studies have been conducted to investigate mechanism and control of the robot that can be used for both locomotion and manipulation, but there are some difficulties to achieve a balance between locomotion and manipulation. So, robot still has a long way to go before it can be used as the practical working robot. The authors proposed a novel concept of lizard-like robot that integrates functions of some different locomotion and some different manipulation. Studies on lizard-like robot have been conducted to gain a better understanding of the biomechanical structure and the locomotion control; however, we approached lizard-like robot as a mobile manipulation robot. This paper describes mechanical configuration and characteristics of a lizard-like robot, named "SAURUS I". Computer simulation with the dynamic model is performed to verify some different locomotion.