Takahiro Inoue — accepted AI-conference papers

2016

Force control on antagonistic Twist-drive Actuator robot

Takahiro Inoue, Ryuichi Miyata, Shinichi Hirai

IROS 2016poster

In recent researches relating to robotic fingers, a novel power transmission mechanism had been designed, and developed as Twist-drive Actuators or Twisted String Actuator systems (TSA). These actuation structures, state of the art, include compact designs, light-weight mechanical structures, inhere…

Cited by 11 Source ↗Scholar ↗

2015

Robotic joint design by agonist and antagonist arrangement with twisting small-diameter round-belts

Takahiro Inoue, Sizuka Yamamoto, Ryuichi Miyata, Shinichi Hirai

IROS 2015poster

This paper develops a novel robotic joint mechanism by means of twisting a small-diameter round-belt, which enables slow movements of joint rotation unlike direct-drive actuator mechanisms. The actuator mechanism proposed in this manuscript is composed of two small-diameter round-belts located near…

Cited by 18 Source ↗Scholar ↗