Yoshimichi Oka — accepted AI-conference papers

2021

A Wheeled V-shaped In-Pipe Robot with Clutched Underactuated Joints

Yoshimichi Oka, Atsushi Kakogawa, Shugen Ma

ICRA 2021poster

This paper presents a wheeled V-shaped in-pipe robot in which the two outputs of the wheel shaft and roll joint are driven solely by a single actuator input. This underactuation is generated by a simple miter gear mechanism. Generally, to control two movements easily, one of the outputs of the under…

Cited by 9 Source ↗Scholar ↗

2018

Stopper Angle Design for a Multi-link Articulated Wheeled In-pipe Robot with Underactuated Twisting Joints

Yoshimichi Oka, Atsushi Kakogawa, Shugen Ma

IROS 2018poster

In this paper, we present a multi-link articulated wheeled in-pipe robot that can drive the wheel and roll joint by using only a single actuator installed in each link. The proposed mechanism enables the robot to move forward or backward and helically in pipes owing to rotation of the drive wheel an…

Cited by 8 Source ↗Scholar ↗