Yuta Hanazawa

2 accepted papers

2018

Development of Rimless Wheel with Controlled Wobbling Mass

IROS 2018poster

This paper presents a novel method for generating level-ground walking for a rimless wheel with a controlled wobbling mass. Our rimless wheel achieves level-ground walking by simply controlling the wobbling mass attached to the wheel. We mathematically demonstrate that the controlled wobbling mass g…

Cited by 15 Source ↗Scholar ↗

2015

High-speed biped walking using swinging-arms based on principle of up-and-down wobbling mass

Yuta Hanazawa, Fumihiko Asano

ICRA 2015poster

In this paper, we propose a novel speeding-up method for biped walking using a swinging-arms motion based on the principle of an up-and-down wobbling mass. We have shown that biped robots with a wobbling mass can achieve fast walking using an active up-and-down motion of the wobbling mass. We have a…

Cited by 8 Source ↗Scholar ↗