Tetsushi Kamegawa

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—In this paper, we develop a new type of snake-like robot using screw-drive units connected by active joints. The screw drive units enable the robot to generate propulsion on any side of the body in contact with environments. Another feature of this robot is the omni-directional mobility by combinations of screws' angular velocities. We also derive a(More)
— To search victims in the narrow space at the disaster site, we have developed the snake-like rescue robot called " KOHGA ". The robot is constructed by connecting multiple crawler vehicles serially by active joints. KOHGA has a problem that obstacles are caught to the joints and then the robot is stuck. To solve this problem, we developed an unit(More)
— Our research perspective is to develop mechanisms for gathering information efficiently in disaster sites. Ideally this requires mechanisms with capabilities of flexible, on-site, adaptation of the overall shape and of the locomotion strategy to unknown and unstable environments. We have been developing three-legged modular robots which can be(More)
Reinforcement learning is very effec#ive for robot learning. Because it does not need prior knowledge and has higher capability of reactive and adaptive behaviors. In our previous works, we proposed new reinforce learning algorithm: "Q-learning with Dynamic Structuring of Exploration Space Based on Genetic Algorithm (QDSEGA)". It is designed for complicated(More)
— In this paper, we develop a prototype of a new snake-like robot using the screw drive mechanism, and design a control system design for trajectory tracking. First, we explain the outline of the snake-like robot using the screw drive units and joint units, as well as the principle of the screw drive mechanism. Next, in order to achieve the trajectory(More)