Shunsuke Nansai

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Legged robots are able to move across irregular terrains and some can be energy efficient, but are often constrained by a limited range of gaits which can limit their locomotion capabilities considerably. This paper reports a reconfigurable design approach to robotic legged locomotion that produces a wide variety of gait cycles, opening new possibilities(More)
The long-term goal of this study is to realize a locomotion control for snake-like robots on various environments. A key point for the locomotion control is the normal direction friction force of each link of the robot. Because, a real snake can locomote by utilizing the difference of frictions in the propulsive and in the normal direction. In previous our(More)
Legged robots are able to move across irregular terrains and those based on 1-degree-of-freedom planar linkages can be energy efficient, but are often constrained by a limited range of gaits which can limit their locomotion capabilities considerably. This article reports the design of a novel reconfigurable Theo Jansen linkage that produces a wide variety(More)
The long-term goal of this study is to realize a locomotion control for snake-like robots on various environments. Key points for robots to adapt to various environments are measurement of stress applied to robots, and to realize locomotion control utilizing the stress. The observation leads to utilize a spring because a spring twists by the applied stress(More)
0.1016/j.dcan.201 hongqing Universi thor. : nansai@ctrl.fr.de du (N. Rojas), u.sg (M.R. Elara), du.sg (R. Sosa), jp (M. Iwase). Abstract Legged robots based on one degree-of-freedom reconfigurable planar leg mechanisms, that are capable of generating multiple useful gaits, are highly desired due to the possibility of handling environments and tasks of high(More)
In recent decades, skyscrapers, as represented by the Burj Khalifa in Dubai and Shanghai Tower in Shanghai, have been built due to the improvements of construction technologies. Even in such newfangled skyscrapers, the façades are generally cleaned by humans. Wall climbing robots, which are capable of climbing up vertical surfaces, ceilings and roofs, are(More)
The Theo Jansen mechanism is gaining widespread popularity among the legged robotics community due to its scalable design, energy efficiency, low payload-to-machine-load ratio, bioinspired locomotion, and deterministic foot trajectory. In this paper, we perform for the first time the dynamic modeling and analysis on a four-legged robot driven by a single(More)
This study aims to develop mathematical model which can capture behavior of “wheel spider” that can perform rolling locomotion and analyze characteristics of the behavior to realize biologically inspired locomotion by robots. Therefore, a rolling wheel spider model is developed by applying constraint force on the ground to a wheel spider model(More)
A real snake has simple figure like a string, and has highly adaptability corresponding to the environments/tasks. A snake-like robot mimics such highly adaptability of the real snake, is expected as an adaptable robot corresponding to the environments/tasks. Many literatures have reported with respect to locomotion controls of the snake-like robot, but(More)