6 accepted papers
A robot must exhibit softness so as not to accidentally damage its environment. However, stiffness is also necessary, so that the robot can transmit forces and perform tasks. In soft robotics, it is desirable to be able to switch between two states, namely a flexible state for adapt ion to the envir…
A method for designing the motion of a snake robot negotiating complicated pipe structures having a constant diameter is presented. For such robots moving inside pipes, there are various "obstacles" such as junctions, bends, shears, and blockages. To surmount these obstacles, we propose a method tha…
Grounding of kinesthetic feedback against a user's hand can increase the portability and wearability of a haptic device. However, the effects of different hand-grounding locations on haptic perception of a user are unknown. In this letter, we investigate the effects of three different hand-grounding
Body flexibility plays an important role in the bounding gait of quadruped animals. In a previous study, we investigated the effects of body flexibility on foot loading by comparing two different physical models, with and without a flexible body-joint. Testing both models with equal mechanical energ
This paper presents a method that allows a snake robot to climb a ladder. We propose a ladder climbing method for a snake robot that has a smooth surface shape. We design a novel gait for the snake using a gait design method that configures the target form of the snake robot by connecting simple sha…
This letter proposes a navigation method for multirobots with heterogeneous abilities. In this method, a single leader navigates other robots that have different translational and rotational velocity and acceleration, sensing distance and angle while maintaining global connectivity. In particular, t