10 accepted papers
A control method is proposed for a tensegrity robot to generate legged-rolling locomotion (i.e., rolling movement produced by a legged system). The robot has a minimal structure composed only of two rods and four elastic cables. The difficulty of the control arises from the minimalistic structure th…
This study introduces a novel burrowing robot that achieves effective locomotion inside granular media through the synergistic integration of high-frequency vibration-induced environmental-phase-transition (EPT) and adaptive morphing. The robotic system employs three key innovations: 1) an asymmetri
Quadrupedal locomotion involves coordinated interaction between limbs and torso, enabling them to achieve remarkable movement performance and adapt effectively to various environments. In previous studies, mathematical dynamic models of quadrupeds have been established to investigate the mechanisms
This paper investigates the mathematical modeling and basic motion properties of planar seven-link robots that forms passive closed and active open chains. The passive closed model is formed by connecting seven rigid frames via seven viscoelastic joints, and the active open model is formed by connec
The authors have proposed a passive rotating locomotion robot that forms a convex heptagonal body by connecting seven identical linear rigid frames via viscoelastic rotational joints. In our previous study, it was confirmed through both numerical simulations and actual experiments that stable and pa
A control method is proposed for a tensegrity robot to generate legged-rolling locomotion (<italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">i.e.</i>, rolling movement produced by a legged system). The robot has a minimal structure composed only of two
The movement of the legs involves the interaction between the feet and the ground. Consequently, most animals possess a wide variety of foot morphologies and multifunctional capabilities. The selection and switching of these foot functions are passive and environment-dependent, ensuring environmenta…
Particular tasks performed in narrow and confined spaces require a capability of passing through a limited pathway. Consequently, previous research developed a snake-like robot that generates a 1-D rectilinear gait with an appropriate mechanical design. In contrast, a rigorous mathematical model and
This Letter presents a robot walking control method, which we call “quasi-passive dynamic walking.” The method is targeted at underactuated legged robots and applied to obtain energy-efficient limit cycle gait on level ground. To achieve efficient locomotion, as well as to overcome the underactuatio
Towards achieving stable and high performance locomotion on a slippery ground, underactuated sliding locomotion robots have been proposed in our previous studies. Unlike walking robots stepping with legs, this legless robot generates sliding locomotion on a slippery road surface by means of its body