Hirotaka Komura — accepted AI-conference papers

2016

Eccentric Crank Rover: A novel crank wheel mechanism with eccentric wheels

Hirotaka Komura, Gen Endo, Koichi Suzumori

IROS 2016poster

The crank wheel mechanism, consisting of a wheel mechanism and parallel links connected to each wheel, achieved high mobility and efficiency because it has both wheels and legs in a simple structure. However, each prior model of crank wheel mechanism has had shortcomings such as mass oscillation or…

Cited by 8 Source ↗Scholar ↗

2015

Study of swing-grouser wheel: A wheel for climbing high steps, even in low friction environment

Hirotaka Komura, Hiroya Yamada, Shigeo Hirose, Gen Endo, Koichi Suzumori

IROS 2015poster

Generally, wheel mechanisms are inferior to a tracked or walking mechanism in terms of step climbability or traversability in rough terrain; however, they are superior in terms of energy efficiency, structural simplicity, and carrying capacity. This paper proposes a new wheel mechanism, the swing-gr…

Cited by 15 Source ↗Scholar ↗