13 accepted papers
This study introduces a novel burrowing robot that achieves effective locomotion inside granular media through the synergistic integration of high-frequency vibration-induced environmental-phase-transition (EPT) and adaptive morphing. The robotic system employs three key innovations: 1) an asymmetri
This paper presents a novel snake robot, JiAo, equipped with elliptical wheels that enable both wheeled and body-based locomotion. First, the design of each module of the snake robot is described, which consists of the body link and the transmission system of the elliptical wheels. Second, distinct
This paper introduces a wheel-claw quadruped robot named Lywal-X, which is capable of omnidirectional movement as well as grasping actions. Firstly, the mechanical structure of Lywal-X is designed with a three-degree-of-freedom leg transformation mechanism and a two-degree-of-freedom wheel-claw stru
Ultrasound (US) imaging has been widely utilized for guiding puncture procedures in spinal interventions. However, conventional methods that confine puncture within the US plane may not adequately meet the demands of endoscopic spinal surgery (ESS), which requires extensive spatial orientation adjus
This paper presents a novel snake robot with the docking function, which can help the snake robots to connect with each other to achieve a stronger one with double length and double degrees of freedom. First, the mechanical design of the snake robot with docking function is introduced, including the…
"We introduce a highly efficient light visibility estimation method, called L-Tracing, for reflectance factorization on neural implicit surfaces. Light visibility is indispensable for modeling shadows and specular of high quality on object’s surface. For neural implicit representations, former metho…
This paper presents a transformable RHex-inspired robot, RHex-T3, with high energy efficiency, excellent flexibility and versatility. By using the innovative 2-DoF transformable structure, RHex-T3 inherits most of RHex’s mobility, and can also switch to other 4 modes for handling various missions. T…
This paper introduces a leg-wheel transformable quadruped robot named Lywal which can switch to the leg-mode and the wheel-mode for locomotion, and the claw-mode for picking up and transport functions. First, the mechanical structure of Lywal is designed by using an innovative 2-DoF transformable me…
Toward stable gait generation on a steep slope, this paper discusses a method for generating a stable walking gait completing in one step for an underactuated rimless wheel. First, we introduce a model of a six-legged rimless wheel with a reaction wheel, and develop two controllers for the single-li…
This paper proposes an approximate-kinetic-model-based self-adaptive (AKS) control system to rapidly generate target walking speed by an underactuated compasslike bipedal walker. First, a model of the underactuated compass-like bipedal walker is built, and an open-loop system is introduced and analy…
This paper proposes a novel method for generating an underactuated bipedal gait that completes in one step. First, we introduce an underactuated biped robot model that has a circular torso as a reaction wheel. Second, we consider an input-output linearization to formulate an output-following control…
This paper investigates the analytical solution of target steady walking speed in 1-DOF limit cycle walking. We introduce an active combined rimless wheel (CRW) model to analyze the target steady walking state when the CRW walks on level ground. The walking speed is determined by the step period bec…