9 accepted papers
For universal robotic limbs, having a large workspace with high stiffness and adjustable output properties is important to adapt to various situations. A combination of parallel mechanisms that can change output characteristics is promising to meet these demands. As such, we propose a lever mechanis…
This letter focuses on the jump-and-hit motion of a humanoid robot, wherein a robot instantaneously jumps forward and hits a flying ball in the air, similar to how human players behave in volleyball games. We propose a Immediate Motion generation using a Lookup table of learned dynamics (IMoLo) for
The need for cable connection with soft robotic systems suppresses the benefits granted by their softness and flexibility. Such systems can be untethered by equipping batteries or by relying on non-electrical actuation mechanisms. However, these approaches cannot simultaneously support long-term and
In this study, we present a length sensor that can be used for extensible soft pneumatic actuators. Conventional length sensors detect the changes in electrical resistance and capacitance owing to the deformation of the actuator; hence, deterioration and destruction occur when they are used with an
We describe the development of a robot configured to play badminton, a dynamic sport that requires high accuracy. We used pneumatic-electric hybrid actuators, each combining a pneumatic actuator, with high-speed and lightweight attributes, and an electric motor with good controllability. Our first o
It is difficult to design agile soft-bodied robots owing to their inherent softness. To overcome this problem, we propose a structure-integrated bistable module that uses snap-through buckling for agile motions. First, we confirmed that a 0.05-m-long module was able to jump to 0.13 m high. Through i
The dolphin kick is a swimming style characterized by undulation of the body. As a platform for swimming research, we have developed a musculoskeletal humanoid robot called Triton. Triton has a flexible spine with erector spinae muscles and a stiffness adjustment system for lumbar joints. The muscul…
Sports, especially badminton, require participants to perform dynamic and skillful motions. Previous robots have had difficulty in performing like a human because of their severe limitations of low operating speed, heavy bodies, and simplistic mechanisms. In this letter, we propose a new robot desig
Systems with changeable mechanical properties show promise for expanding the applications of dynamic robots. We proposed the Torque-Angle Relationship Control System (TARCS) for musculoskeletal robots with changeable output properties. First, we formulated TARCS and examined its static properties. N