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In this paper, antagonistic robot joint which uses the Twisted String Actuator is developed. One axis robot joint is antagonistically driven by two Twisted String Actuators. This paper introduces the robot joint design and the performance of one axis robot. The position control is performed for antagonistic robot joint. The non-linearity of wire twist model causes the internal locking problem. The...
This paper introduces ‘Ground Following Locomotion’ as a means to traverse rough terrain inspired by pill bugs(Armadillidium vulgare). The locomotion of pill bugs is unique and effective on irregular terrain. Pill bugs bend their bodies actively along with the terrain to maintain traction force and the behavior enables them to overcome irregular terrain easily. This biological principle can be applied...
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