Presentations :

  • Robotic Finger Mechanism Equipped Omnidirectional Driving Roller with Two Active Rotational Axes Authors: Tadakuma, Kenjiro; Tadakuma, Riichiro; Higashimori, Mitsuru; Kaneko, Makoto
    This paper describes the finger mechanism with omnidirectional driving roller to realize the two active rotational axes on the surface of the grasped object. As the omnidirectional driving roller, we adopt the Omni-Crawler we developed: the crawler mechanism with circular cross section. This cylinderical tracked unit can be used as the roller and the fingers with this roller can manipulate the grasped object in the arbitrary axes. The basic concept of this finger is proposed.
  • Indoor and Outdoor Parametrized Gait Execution with Modular Snake Robots Authors: Melo, Kamilo; Paez, Laura; parra, carlos
    This video shows the mechanical structure, module length possibilities, skin options and some of the locomotion capabilities, including indoor and outdoor demonstrations of parametrized gaits for a modular snake robot, used to research at Pontificia Universidad Javeriana by the Systems, Intelligence, Robotics and Perception Research group (SIRP).
  • Quick Slip-Turn of HRP-4C on Its Toes Authors: Miura, Kanako; Kanehiro, Fumio; Kaneko, Kenji; Kajita, Shuuji; Yokoi, Kazuhito
    In this video, we present the realization of quick turning motion of a humanoid robot on its toes via slipping between its feet and the floor. A rotation model is described on the basis of our hypothesis that turning via slip occurs as a result of minimizing the power caused by floor friction. Using the model, the trajectory of the center of the foot can be generated to realize the desired rotational angle. Toe joints are used to realize quicker turning motion, while avoiding excessive motor load due to frictional torque. Quick slip-turn motion with toe support is successfully demonstrated using a humanoid robot HRP-4C.
  • Flight Stability in Aerial Redundant Manipulators Authors: Korpela, Christopher M.; Danko, Todd; McNeil, Clayton; Pisch, Robert; Oh, Paul Y.
    Ongoing efforts toward mobile manipulation from an aerial vehicle are presented. Recent tests and results from a prototype rotorcraft have shown that our hybrid structure increases stability during flight and manipulation. Since UAVs require significant setup time, suitable testing locations, and have tendencies to crash, we developed an aerial manipulation test and evaluation environment that provides controllable and repeatable experiments. By using force feedback techniques, we have designed multiple, dexterous, redundant manipulators that can grasp objects such as tools and small objects. These manipulators are controlled in concert with an emulated aerial platform to provide hovering stability. The manipulator and aircraft flight control are tightly coupled to facilitate grasping without large perturbations in the end-effector.
  • Study on the Omnidirectional Driving Gear Mechanism Authors: Tadakuma, Kenjiro; Tadakuma, Riichiro; Ioka, Kyohei; Kudo, Takeshi; Takagi, Minoru; Tsumaki, Yuichi; Higashimori, Mitsuru; Kaneko, Makoto
    As ordinary dual-axis driving mechanisms in X-Y directions, for example, commercially available X-Y stages with ball screws are familiar. However, such driving mechanisms have two stages, namely both upper and lower linear actuators, the latter of which must generate sufficient thrust to carry large weights, including that of the upper actuator mechanism, which has hampered efforts to achieve suitably fast and smooth driving motion due to the inertial force effect. It is also difficult to achieve a small and slimline driving mechanism with such overlapping two-stage structure. In these ordinary two-stage driving mechanisms, the motion of the X-Y stage can be disturbed by the cords of the upper actuator. In this research, we have considered the abovementioned problems, and propose a new omnidirectional driving gear mechanism that enhances its driving area from the normal X-Y plane to convex and concave curved surfaces respectively, and even various combinations of both. The smoothness of basic omnidirectional motion and effectiveness of the driving method of this proposed omnidirectional driving gear mechanism have been confirmed with several experiments involving our setups.