Ryouhei Kitayoshi

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In this paper, we propose a new example of non-holonomic mobile robot, which we call the surface walker. This robot is composed of a hemisphere-shaped shell and a 2-d.o.f. mass-control device (pendulum) inside it, and undergoes the rolling contact constraint between the hemispherical surface of the robot and the ground. Unlike a lot of non-holonomic robots(More)
In this paper, we propose a spherical mobile robot equipped with eccentric twin rotors and 2-d.o.f. actuators, which we call Volvot. The first actuator, called rotor actuator, drives a pair of off-centered metal disks fixed to both ends of the drive shaft. The second actuator, called base actuator, rotates the whole internal block relative to the spherical(More)
An R/C servo motor is a compact package of DC geared-motor associated with position servo controller. They are widely used in small-sized robotics and mechatronics by virtue of their compactness, easiness-to-use and high power/weight ratio. However, in order to improve control performance of mechatronic systems using R/C servo motors, such as biped robots(More)
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