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We presents a high-payload climbing robot based on a compliant track-wheel mechanism. The compliant track-wheel mechanism changes the configuration of the robot according to the conditions of the external structures without feedback control; and the robot can perform 90-degree wall-to-wall internal and 240-degree wall-to-wall external transitions. Segmented(More)
Transitioning capability and high payload capacity are problems for climbing robots. To increase the possible applications for climbing robots, these two abilities are required. We present a new climbing robotic platform named “Combot” to achieve both transitioning capability and high payload capacity. The robot is composed of three main(More)
This paper proposes a novel multi-articular leg system for biped robot. The structure and actuation scheme of the mechanism are inspired by redundantly-actuated manipulators, of which actuators span over multiple joints like bi-articular muscles. The proposed mechanism for robotic leg contributes to improved capacity in end-effector force exertion, which(More)
This paper covers the energy-saving features of a robotics system by redundant actuation. By installing more actuators than the degrees of freedom, the actuating torques can be distributed This distribution can reduce the overall energy loss, which reduces the overall energy consumption. An experiment was conducted with a 2-DOF general manipulator and(More)
This paper presents a family of climbing robots that are using a track-wheel mechanism for locomotion mechanism. There are three robots: High speed vertical climbing robot, Flexible caterpillar robot, and Multi-linked climbing robot. The high speed vertical climbing robot uses suction pads to be attached on walls, and the robot has an advantage of high(More)
This paper presents a novel robotic neck utilizing 4 degrees-of-freedom (DOF) hybrid mechanism for human-robot interaction (HRI). For this robot, human-like motion is an important factor. To realize human neck motion, the conceptual design is inspired by the anatomical data such as cervical spine. Following this, the forward kinematics and velocity Jacobian(More)
In this paper, we propose an energy-efficient robotic leg design using a redundantly actuated parallel mechanism (RAPM). By adding an actuator parallel to the serially-actuated leg, we show that the legged machine can reduce mechanical energy loss. We begin with reviewing kinematic model of parallel mechanisms and then present an optimal torque distribution(More)