Hitoshi Kimura

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The snake-like robots of the 'Genbu' series (Genbu 1,2,3) consist of multiple modules, equipped with active wheels, connected to each other by passive joints. These robots are categorized as Active-Wheel Passive-Joint articulated mobile robots (AW-PJ type). AW-PJ type robots have high-speed mobility and high-durability on rough terrain in spite of several(More)
This study deals with a control method of a modular robotic system ldquoCHOBIE II.rdquo Our purpose is to realize a function that CHOBIE II forms a self-reconfigurable structure adaptively to mechanical environments. In the previous paper, we introduced a method to express criteria for generating transformations. A criterion is regulated by 32 parameters(More)
Almost all of conventional mobile robots for narrow spaces exploration, e.g. rescue robots, adopt crawler or wheel mechanisms. However, in narrow spaces, such robot is often stuck because the robot body is sandwiched between both sides of a terrain. Especially, with normal crawler or wheel mechanisms, it is impossible to penetrate into narrow spaces lower(More)
Conventional fluid motors require high-pressure fluids (20MPa~) and rotation speeds of these motors are extremely high (2,000~10,000rpm or more). Therefore it is difficult to apply these motors to mobile robots under hard conditions, like in fire disasters. Usually, high torque, low rotation speed, low pressure fluid motors are desired in robotics. This(More)
An actuator is required to change its speed and force depending on the situation. Using multiple actuators for one driving axis is one of the possible solutions; however, there is an associated problem of output power matching. This study proposes a new active joint mechanism using multiple actuators. Because the actuator is made of a flexible bag, it does(More)