Mobile manipulation planning analysis of a novel leg-arm integration hexapod robot based on the center of mass kinematics theory

This study introduces a hexapod robot with integrated leg-arm mechanisms for stable mobile manipulation through center of mass (COM) kinematics planning. The design features two transformable limbs achieving dual-arm manipulation while maintaining stability through coordinated four-leg compensation. Subsequently, a complete COM kinematics model is established, encompassing leg branches, leg-arm branches, and a full-body system, providing the theoretical basis for mobile manipulation planning. In addition, by leveraging the analysis of the (3 + 1) static gait characteristics to establish a planar COM trajectory and foot-end motion patterns, combined with the COM height definition and inverse COM kinematics implementation, precise leg motion control is achieved using an effective workspace trajectory to joint space trajectory mapping. Compared with conventional kinematic approaches, this method demonstrates superior walking stability and payload handling capability through systematic virtual prototype simulations and prototype experiments. This work advances legged robotics by solving simultaneous locomotion-manipulation challenges through whole-body COM regulation.