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We have been working on high power joint mechanism which is expected to improve robot functionality and the activities in various working environment. In general, the performance of joint mechanisms depends on actuators performance, and the power mass ratio of actuators is almost constant in the same type motors. Locusts whose length is about 50mm have powerful hind-leg to jump five times high (about...
Robots and robotics technologies are expected as new tools for inspection and manipulation. The dynamics of robot always are changed by environment and robot of state in mission. Therefore, an adaptation system, which is able to switch controller due to environment and robot of state, is needed. Meanwhile, animals are able to go through several environments and adapt several own states. The adaptation...
We have been working on an oscillating fin type actuator for underwater robots. Our research aims at the development of a fin type actuator imitating mechanisms of underwater creatures by using an electoroconductive polymer, which is a kind of artificial muscles. We expect that this actuator takes the place of a screw propeller in the missions which need precise and silent motion control such as observation...
Robots and robotics technologies are expected as new tools, especially in the extreme environments where are very dangerous to access directly by human beings such as underwater environments, volcanic areas, nuclear power plants, etc. Robots for such the extreme environments should be robust and strong enough to disturbance and breakdowns. We can find out a solution to realize robust robot system...
It is very important for mobile robots to realize a robust system in the motion and the structure which is strong enough to disturbance and breakdowns. As one of method for development of robust robot system, there is an approach following architecture of nervous system. In spiral cord of animal rhythm generator mechanism called the Central Pattern Generator (CPG) exists. CPG consists of many neural...
Precise motion control without mechanical noises is a technical issue on the operations of research vessels and underwater vehicles in order to observe creatures in actual. As a solution for the problem, we pay attentions to bio- mechanisms of underwater creatures, especially undulately fins being used for attitude control. Bio-mechanisms of creatures are adapted to environment as a result of evolution...
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