5 accepted papers
A control method is proposed for a tensegrity robot to generate legged-rolling locomotion (i.e., rolling movement produced by a legged system). The robot has a minimal structure composed only of two rods and four elastic cables. The difficulty of the control arises from the minimalistic structure th…
A control method is proposed for a tensegrity robot to generate legged-rolling locomotion (<italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">i.e.</i>, rolling movement produced by a legged system). The robot has a minimal structure composed only of two
Inspired by the fascinating underwater locomotion of cephalopods such as octopuses, this research explores the possibility of using legged robots in underwater environments. Using a rimless wheel model, we investigated their navigation and adaptation capabilities in a dynamic fluid environment. Thro…
The movement of the legs involves the interaction between the feet and the ground. Consequently, most animals possess a wide variety of foot morphologies and multifunctional capabilities. The selection and switching of these foot functions are passive and environment-dependent, ensuring environmenta…
This paper presents a water walking robot with 6 feet which consists of a rimless wheel and a flywheel, and has a foot attached to the tip of each leg. First, in order to make the robot walk on water, we propose a foot control method by imitating the legs of some animals that can walk on water. Seco…