Taiki Shimooka

An Agile Robotic Penguin Driven by Submersible Geared Servomotors: Various Maneuvers by Active Feathering of the Wings

This study introduces an agile robotic penguin featuring a pair of 2-degrees of freedom (DoF) wing mechanisms. Each wing can independently control flapping and feathering motions with two in-house submersible geared servomotors through a differential gear mechanism. Notably, our mechanism allows unr…