6 accepted papers
Improving the safety of collaborative manipulators necessitates the reduction of inertia in the moving part. Within this paper, we introduce a novel approach in the form of a passive 3D wire aligner, serving as a lightweight and low-friction power transmission mechanism, thus achieving the desired l
In this paper, we focus on the kangaroo, which has powerful legs capable of jumping and a soft and strong tail. To incorporate these unique structure into a robot for utilization, we propose a design method that takes into account both the feasibility as a robot and the kangaroo-mimetic structure. B…
Legged robots with high locomotive performance have been extensively studied, and various leg structures have been proposed. Especially, a leg structure that can achieve both continuous and high jumps is advantageous for moving around in a three-dimensional environment. In this study, we propose a p…
Humanoid robots are expected to play a big role at distress sites and disaster sites. There is a variety of multi-contact locomotion forms other than bipedal walking such as crawling through tightly, getting on the rubble by using its knees and elbows, or jumping in and rolling over the obstacles. I…
For robots to autonomously achieve manipulation tasks in various scenes, advanced operational skills such as tool use, learning from demonstration, and multi-robot/human-robot cooperation are necessary. In this research, we devise a method for robots to realize such operational skills in a unified m…
In this paper, we propose methods for walking on a steep slope using a rope by a humanoid robot. There are two difficulties for walking on a steep slope without a rope. First, range of motion of ankle joints get limited. Second, feet of a robot slip on a steep slope. For these problems, using a rope…