9 accepted papers
This study presents a novel control framework for climbing robots that utilizes both rope and leg mechanisms. The proposed robot ascends steep slopes using two ropes while maintaining its balance and adapting its pose to uneven surfaces through its four legs. The robot's overall movement on the slop
Transformable robots have been developed to perform various tasks using flexible methods. However, the transformation properties present challenges in controlling and planning motion strategies, as the system model changes when transformations occur. To address this issue, we propose a planning fram
This letter presents the dynamic modeling of inverted pendulum with adaptable overcoming wheel and analysis of dynamics in 2-dimension. Stairways are inevitable in an environment where humans and robots operate and interact. Normally, the conventional wheel was not able to overcome the obstacle whic
This study presents modular transformable wheels capable of overcoming obstacles. They can be used for indoor service robots or service platforms such as wheelchairs and baby carriages, which often move up and down on thresholds or on sidewalks. The structure of the wheel and transformation mechanis
A two-rope driven mobile robot (TRDMR) that moves on the façade of a building by suspending it on a fiber rope is being developed. When the TRDMR is suspended from the rope on the façade, a function is needed to overcome the obstacle, and the additional moment generated in the working environment ti
This paper presents the design of a compliant manipulator using a series elastic actuator (SEA) and a mechanism for precisely measuring the force acting on the contact part of the manipulator without using a force sensor. It is important to maintain a constant contact force between the compliant man…
This paper presents design and force-tracking impedance control of 2-degree-of-freedom (DOF) wall-cleaning manipulator equipped with disturbance observer (DOB) and sliding mode control (SMC). In order to keep in contact with various shapes of walls, the proposed manipulator is designed to ensure 2-D…
A new lizard-inspired robot is presented in this paper, which enables to maintain its moving direction by lateral body motions even during high-speed bipedal running. First, a dynamic model for lizard-inspired robot is derived to simulate the lateral body motion of real lizard. Based upon the simula…
This paper presents a new mobile robotic platform (R-Mo) which can reduce unexpected variations in height as well as pitch angle of its main body while traversing rough terrains. As a measure for the smooth movement of mobile platform, the variations in height and pitch angle are chosen in this stud…