Abstract
This paper describes mobile manipulation of a manipulator mounted on a quadruped. Mobile manipulation means the wholebody manipulation centered on arm's manipulation. The mobile platform of the robot, which is arranged in four legs radially, is required to assist arm's manipulation. From a viewpoint of this concept, we first analyze the relationship between performance of the robot and the generalized trot gait, which is determined by stroke and duty factor and is well known as a dynamic and static fusion gait. Based on the analysis, we define an evaluation function for adjusting parameters of the generalized trot gait. The effectiveness of the proposed method is ascertained through the computer simulations.
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