Ken Takamine

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For a soft robot with compliant joints, the contact information including the reaction force and the equilibrium posture while touching an object is important information. In this paper, McKibben pneumatic actuators acting as artificial muscles are adopted to drive the robot joint. We propose a sensing mechanism that estimates the contact information(More)
Physical properties of an object, such as compliance, are important pieces of information for dexterous handling of the robot hand, and for the locomotion of the legged robot. It is effective to adopt the active sensing method in which a robot pushes the object and senses the reaction force and sequential deformation such as passive rotation of the joint(More)
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