3 accepted papers
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