23 accepted papers
Dynamic hand manipulation requires both precise motion control and rapid actuation capability, yet most existing robotic hands are primarily optimized for dexterity and accuracy, often sacrificing speed performance. To address this limitation, this work presents a mode-switchable wire-driven robotic…
Barometric tactile sensors present a cheap and customizable method for adding tactile sensing to robotic platforms. These sensors consist of commercially available MEMS barometers embedded in an elastomer. However, as the sensing surface and elastomer volume increase in complexity, time-dependent ma…
This study presents a novel control framework for climbing robots that utilizes both rope and leg mechanisms. The proposed robot ascends steep slopes using two ropes while maintaining its balance and adapting its pose to uneven surfaces through its four legs. The robot's overall movement on the slop
Differential-driven wheeled mobile robots, such as logistics robots and mobile manipulators, are used for various tasks on flat ground. These differential-driven wheeled mobile robots are highly environmentally constrained when driven on flat ground. This study proposes a differential-driven wheeled
This paper presents a Continuous Impact-Minimizing (CIM) rolling locomotion method for Variable-Topology Truss (VTT) robots, addressing limitations of conventional stepwise motion. Traditional VTT locomotion depends on discrete reference transitions, resulting in pauses, slow progress, and unintende
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 paper proposes a new locomotion algorithm for truss robots on irregular terrain, in particular, for the Variable Topology Truss (VTT) system. The previous Polygon-based Random Tree (PRT) search algorithm for support polygon generation is extended to irregular terrain while considering friction…
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
A two-rope driven mobile robot (TRDMR) that moves on the façade of a building by suspending it on a fiber rope is being developed. When the TRDMR is suspended from the rope on the façade, a function is needed to overcome the obstacle, and the additional moment generated in the working environment ti
This letter proposes the Polygon-based Random Tree search algorithm with Variable polygon size (PRT-V) for Variable Topology Truss (VTT). This algorithm improves on our previous path planning algorithm by using VTT’s ability to change its size drastically. The algorithm partitions the space into unc
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
In this study, based on an analysis of experimental results, we propose a method for slip modeling of Spiral Zipper. The Spiral Zipper is a prismatic actuator that extracts a length-changeable cylindrical tube from a flexible ABS band. The band tube is driven by a friction wheel; the slip results du…
This letter proposes the use of a polygon-based random tree path planning algorithm for a variable geometry topology system (VGT). By combining a path planning algorithm and our previous non-impact locomotion algorithm, the proposed VGT system reaches an objective point. The proposed path planning a
This paper presents the design of a compliant manipulator using a series elastic actuator (SEA) and a mechanism for precisely measuring the force acting on the contact part of the manipulator without using a force sensor. It is important to maintain a constant contact force between the compliant man…
In this letter, an active ball joint actuator, called the master node, is developed for the purpose of reconfiguring truss structures. We propose a variable topology truss system, which is an advanced variable geometry truss system that can reconfigure its own topology to expand its functions. Howev
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
A variable geometry truss (VGT) is a modular truss-structured robot consisting of linear actuators and three-degree-of-freedom joints. Having a sophisticated structure, the VGT can easily be damaged when it rolls and impacts the ground. This letter proposes a nonimpact rolling locomotion scheme to a
Legged robots can explore unstructured environments more effectively than wheeled robots, but high turning rate tracking is still a challenging problem, particularly on varying surfaces. Previous steering methods with small robots have shown high turn rates, but usually only on a limited set of surf…
Many highly dynamic novel mobile robots have been developed being inspired by animals. In this study, we are inspired by a basilisk lizard's ability to run and steer on water surface for a hexapedal robot. The robot has an active tail with a circular plate, which the robot rotates to steer on water.…
Wall-climbing robot research is increasingly popular for cleaning, painting, and repairing high-rise buildings. In this study, a compliant wall-climbing robotic platform for various curvatures is presented. In order to adapt to flat and curved surfaces with a single configuration, the robotic platfo…