3 accepted papers
In this paper, we consider the case of carrying an object with a quadruped-wheeled robot and examine and verify the angle planning method for the robot’s base link (load section) that suppresses the relative tilt of the carried object. It is important to suppress the tilt of the carried object relat
In this paper, we propose a new brachiation robot, a single-rod brachiation robot. Brachiation is a method of locomotion that makes clever use of gravity and has been tried to apply to robots. Conventional brachiation robots are multiple-pendulum-like robots that mimic a gibbon. Although the multipl…
This paper describes a control method for noncyclic swing motions such as throwing, hitting and kicking in multiple-joint robots by using “time reversal integral.” This method calculates a control input sequence and an initial posture of the robot to reach a designated terminal state by integrating…