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The configuration design for a wall-climbing robot which is capable of moving on diversified surfaces of wall and has high payload capability, is discussed, and a developed quadruped wall-climbing robot, NINJA-1, is introduced. NINJA-1 is composed of (1) legs based on a 3D parallel link mechanism capable of producing a powerful driving force for moving on(More)
The characteristics and the applications of the articulated body mobile robot, 'Koryu (KR)', a mobile robot with a new style of articulated body is identified, and the construction of the newly developed 'Koryu-II (KR-II)' is discussed. KR-II takes the form of seven linked articulations and its total length is 3.3 m, and its total weight is 350 kg. KR-II(More)
A quadruped walking vehicle TITAN VI having a new leg mechanism is designed and manufactured. Objectives of design of TITAN VI are to walk on an ordinary staircase of 30 to 40 degrees, to constitute an active platform which assists manipulation in the stationary condition, and to walk at a high speed by using dynamic walk. The new mechanisms introduced in(More)
  • S. Hirose
  • 1991
The types of locomotion in mobile robots, the fundamental problem in the design of mobile robot, are discussed and it is pointed out that there are three fundamental configurations in the mobile robot: wheels and crawler track; legs; and an articulated body. The characteristics of these configurations are discussed. Some of the examples of mobile robot are(More)
A new control method for multijoint manipulators, named Moray Drive, is proposed. Moray Drive uses the multijoint manipulator with slider, the sliding mechanism at the arm base, and gives the bending angle command to all joints while shifting the angle commands to the adjacent joints in synchronization with the linear motion of slider. The characteristics(More)
We propose a method for estimating inherent surface color robustly against image noises from two registered images taken under different outdoor illuminations. We formulate the estimation based on maximum likelihood manner while considering both inter-pixel and intra-pixel relationships. We define inter-pixel relationship based on stochastic behavior of(More)
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