4 accepted papers
In this work, an advanced quadruped robot with abundant kinematic loops and passive joints is introduced. Due to the existence of many closed chains, the robot dynamic model is quite complex, and is derived using the Gauss's principle of least constraint. To explicitly consider the loop-closure cons…
This study proposes a novel 7-DOF robotic manipulator called CoSMo-Arm for high torque density multi-link robotic platform based on a concentrically stacked modular actuator (CoSMoA) and an extended coaxial spherical joint module (E-CoSMo) introduced in previous researches. The CoSMoA is an actuator…
In this study, a novel four degrees of freedom (DoF) robotic link mechanism and its torque analysis based on extended coaxial spherical joint module (E-CoSMo) are introduced. The E-CoSMo is a previously developed 4-DoF point-centered rotational parallel mechanism with coaxial actuators. The use of t…
In this study, we propose an extended coaxial spherical joint module (E-CoSMo) with three to four degrees of freedom (DOFs) for a multi-DOF robot platform. The E-CoSMo consists of a coaxial spherical parallel mechanism (CSPM) with three DOFs and one extended DOF based on a universal joint mechanism…