5 accepted papers
In an earthquake simulator, which is a device for reproducing seismic waves, it is necessary to accurately reproduce the acceleration. In this letter, the authors propose an offline reference trajectory shaping method for precise acceleration control based on the dynamic model of an earthquake simul
In this paper, the development of a two-degrees-of-freedom (DOF) human-powered robot using regenerative clutches and constant-force springs is described. A regenerative clutch can control a transmitted torque precisely and it includes a regenerative brake and a differential gear mechanism. The singl…
In this paper, a development of a single DOF joint drive mechanism using regenerative servo clutches is described. The regenerative servo clutch is a kind of a clutch developed by the authors which consists of a regenerative brake and a differential gear mechanism, and it can control the transmitted…
One of the main problems faced by land-based mobile robots is their locomotion performance on rough outdoor terrain. We focused on the navigation of grassy areas such as riversides and forests. These have many types of obstacles, which make robot locomotion difficult. Several studies have been condu
Environment recognition is an effective way for a mobile robot to move across rough terrain. In particular, this makes it possible to prevent a tiny mobile robot from getting stuck or turning over. Several studies have been conducted on environment recognition using a laser range finder or camera. H…