3 accepted papers
This paper introduces the Passive Transformable Omni-Ball (PTOB), an advanced omnidirectional wheel engineered to enhance step-climbing performance, incorporate built-in actuators, diminish vibrations, and fortify structural integrity. By modifying the omni-ball’s structure from two to three segment…
To achieve safe legged locomotion, it is crucial to generate motion in real-time considering various constraints in robots and environments. In this study, we propose a lightweight real-time perceptive motion control system for the newly developed six-wheeled-telescopic-legged robot, Tachyon 3. In t…
This paper introduces a quadruped robot, Tachyon, which aims to achieve high payload, robust, and dynamic locomotion on the various terrain with high energy efficiency. Thanks to a novel compact series-parallel elastic actuator (SPEA) on the upper link and a four-bar linkage design in the knee joint…