7 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 proposes an angled spoke-based wheel(ASW) design to enhance the driving speed of a mobile robot with angled spoke-based wheels called DODO on granular media, asphalt ground, and transitions between them. The design parameters were optimized using the Taguchi method and <inline-formula xml
In this study, a modified rocker-bogie mechanism that improves mobility using only two actuators and a damper is proposed. Previous mechanisms used large numbers of motors or complex controls to overcome obstacles such as rough terrain or stairs. To compensate for this, the damper-driven rocker-bogi
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
This letter presents the development of a reconfigurable wall-climbing robot (WCR) called R-track. R-Track is designed for operations inside metal structures. It adheres to the metal surface with magnetic tracks. With a modular design which each module of R-Track can be connected or disconnected wit
The ability of wheeled mobile robots to overcome steps is often limited by wheel size. Enhancing the ability of mobile robots to overcome obstacles is essential for extending their operation area, and many previous attempts have been made by using transformable wheels, a linkage mechanism, and a spo