12 accepted papers
Biped robots require massive power on each leg while walking, hopping, and running. We have developed a flow-based control system-called hydraulic direct drive system- that can achieve high output while avoiding spatial limitations. To implement the proposed system with simple equipment configuratio…
Human jumping involves not only lower limbs but also whole-body coordination. During jumping, the effect of sinking the center of mass for recoil and arm swing are significant, and they can cause changes in the jump height. However, upper body movements during jumping movements of humanoid robots ha…
Biped robots require substantial amounts of power alternately on each leg while walking, hopping, and running. However, it is difficult to mount high-power large electrical motors in conventional mechanical transmission systems owing to spatial limitations. A hydraulic direct-drive system is propose…
Biped robots require substantial amounts of power on each leg alternately while walking, hopping, and running. However, it is difficult to adopt large high-power electrical motors in conventional mechanical transmission systems owing to spatial limitations. To address this problem, a hydraulic inter…
In this paper, we describe approaches to enable a four-limbed robot to get over a step higher than its leg with torso contact. The higher the step becomes, the more difficult it is for legged robots to get over from the viewpoint of stability and kinematic reachability. Torso landing contributes to…
To improve the movement ability of humanoid robots, instead of traditional methods dependent on only power of actuators, there is possibility that utilizing elasticity inspired from collaboration of muscle and tendon of human is effective to achieve high-power movement. In this study, we aimed to re…
Humans utilize their torsos and arms while running to compensate for the angular momentum generated by the lower-body movement during the flight phase. To enable this capability in a humanoid robot, the robot should have human-like mass, a center of mass position, and inertial moment of each link. T…
This paper describes an approach that enables the four-limbed robot “WAREC-1” to climb up and down vertical ladders stably. First, the four-limbed robot “WAREC-1” is introduced and dynamic stability conditions in multi-mass model for ladder climbing are proposed as the basis of judging whether a fou…
This paper describes the development of one DoF robotic hand that makes human laugh by tickling through rubbing underarm. Laughter is attracting research attention because it enhances health by treating or preventing mental diseases. However, laughter has not been used effectively in healthcare beca…
This paper introduces a motion planning method to generate ladder climbing motion for a four-limbed robot. This method contains the following points: (1) independent planning of path and time in 3 dimensional space for trajectory planning; (2) path length minimization according to given midpoints. I…
Analysis of human running has revealed that the motion of the human leg can be modeled by a compression spring because the leg's joints behave like a torsion spring in the stance phase. Moreover, the knee bends rapidly to avoid contact of the foot with the ground in the swing phase. In this paper, w…
Human running motion can be modeled using a spring-loaded inverted pendulum (SLIP), where the linear-spring-like motion of the standing leg is produced by the joint stiffness of the knee and ankle. To use running speed control in the SLIP model, we should only decide the landing placement of the leg…