5 accepted papers
Wheeled Inverted Pendulum (WIP) systems offer agile mobility but are challenging to control due to their unstable and underactuated dynamics. To address these limitations, we develop a Wheeled Inverted Pendulum with a Fan (WIPF), which incorporates a fan-generated bidirectional thrust force as an ad…
Wheeled Inverted Pendulum (WIP) systems offer agile mobility but are challenging to control due to their unstable and underactuated dynamics. To address these limitations, we develop a Wheeled Inverted Pendulum with a Fan (WIPF), which incorporates a fan-generated bidirectional thrust force as an ad
Humanoid robots have the potential to help human workers by realizing physically demanding manipulation tasks such as moving large boxes within warehouses. We define such tasks as Dynamic Mobile Manipulation (DMM). This letter presents a framework for DMM via whole-body teleoperation, built upon thr
Robotic systems capable of Dynamic Mobile Manipulation (DMM) tasks combine dynamic manipulation and locomotion and could facilitate dangerous or physically demanding labor. For instance, firefighter humanoid robots could leverage their body by leaning against collapsed building rubble to push it asi…
In this paper, an asymmetric cable-driven mechanism is proposed for accurate force control of exoskeleton systems with a compact structure. Inspired by the fact that the required forces in human motions are not symmetric in many cases, a spring-actuator type cable-drive mechanism is adopted, which e…