Arm-Leg Coordination of Multilimbed Industrial Robots
{'Code': '07030000', 'Directorate': {'Abbreviation': 'ENG', 'LongName': 'Directorate For Engineering'}, 'Division': {'Abbreviation': 'CMMI', 'LongName': 'Div Of Civil, Mechanical, & Manufact Inn'}}
{'SignBlockName': 'Senior Program Assistant', 'PO_EMAI': None, 'PO_PHON': None}
Multilimbed industrial robots (robots that have at least one               arm and two or more legs) are suggested for improving robot                     performance in industrial automation.  Because of the legged                    mobility, a multilimbed robot has three advantages in comparison                with an ordinary arm:  (1) a large reachable work space, (2) arm                degeneracy avoidance, and (3) large force exertion by the hand.                 To plan multilimbed robot motion, the arm-leg motion coordination               problem is studied through task decomposition.  Specifically, a                 given task is decomposed into subtasks for arm manipulation and                 for leg locomotion.  The former is defined as the end-effector                  motion with respect to the main body, and the latter as the                     motion of the main body itself.  For optimal decomposition of a                 given task, three criteria are proposed:  least-energy,                         best-manipulability, and minimum-effort.
[{'FirstName': 'J.', 'LastName': 'Luh', 'PI_MID_INIT': 'Y', 'PI_SUFX_NAME': None, 'PI_FULL_NAME': 'J. Y Luh', 'EmailAddress': None, 'NSF_ID': '000090349', 'StartDate': '03/01/1988', 'EndDate': None, 'RoleCode': 'Co-Principal Investigator'}, {'FirstName': 'Yuan', 'LastName': 'Zheng', 'PI_MID_INIT': 'F', 'PI_SUFX_NAME': None, 'PI_FULL_NAME': 'Yuan F Zheng', 'EmailAddress': 'zheng@ece.osu.edu', 'NSF_ID': '000282975', 'StartDate': '03/01/1988', 'EndDate': None, 'RoleCode': 'Principal Investigator'}]
{'Name': 'Clemson University', 'CityName': 'CLEMSON', 'ZipCode': '296340001', 'PhoneNumber': '8646562424', 'StreetAddress': '201 SIKES HALL', 'StreetAddress2': None, 'CountryName': 'United States', 'StateName': 'South Carolina', 'StateCode': 'SC', 'CONGRESSDISTRICT': '03', 'CONGRESS_DISTRICT_ORG': 'SC03', 'ORG_UEI_NUM': 'H2BMNX7DSKU8', 'ORG_LGL_BUS_NAME': 'CLEMSON UNIVERSITY', 'ORG_PRNT_UEI_NUM': None}
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{'Code': '1465', 'Text': 'PRODUCTION SYSTEMS'}
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