8 accepted papers
In this paper, we developed an autonomous decentralized control method that incorporates phase-difference adjustment based on a sigmoid function, enabling the design of both increases and decreases in discrepancy. The method was applied to a peristaltic mixing pump capable of mixing and transporting…
In this paper, we developed an autonomous decentralized control method that incorporates phase-difference adjustment based on a sigmoid function, enabling the design of both increases and decreases in discrepancy. The method was applied to a peristaltic mixing pump capable of mixing and transporting
This study develops an autonomous cleaning robot designed to remove accumulated grease in restaurant kitchen ducts, where human access and manual cleaning are not feasible. Prior studies have developed cleaning mechanisms for round ducts employing planetary gear systems, demonstrating their efficien
This letter proposes a moving mechanism applied Multiple-connected Variable Outer Diameter PIGs (Multi-VOD PIGs) for in-pipe inspection. This study aims to inspect the inside of long, narrow, and complex piping. Related studies include wheeled, snake, and worm robots. However, these robots have larg
In this study, an earthworm-type electrical wire installation assistance robot is proposed using pneumatic artificial muscles. This letter contributes to describing the design and experiments regarding a robot that can safely and automatically install electrical wires in complex conduits within a li
In this study, we propose a method to reduce the traveling load by designing a distributed robot arrangement that considers the shape of a pipeline for a cabled in-pipe mobile robot. The objective of this study is to establish a method to reduce the friction acting on the wires of a self-propelled i
In this letter, we describe simulations and experiments on the occurrence of cavitation with an instantaneous force generation mechanism based on the motion of the mantis shrimp. This study aims to strengthen the striking force of the developed mechanism by realizing the mechanism of cavitation occu
We developed a robot generating instantaneous force inspired by the smashing mantis shrimp, and conducted dynamic analysis using the mechanistic model. We compared the performance with and without the elastic elements of the exoskeleton to examine the contribution of each spring element. Previously,