Akito Nomura
Tohoku University
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Publication
Featured researches published by Akito Nomura.
international symposium on safety, security, and rescue robotics | 2016
Eri Takane; Kenjiro Tadakuma; Masahiro Fujita; Hirone Komatsu; Akito Nomura; Tomoya Ichimura; Tomonari Yamamoto; Yuichi Ambe; Masashi Konyo; Satoshi Tadokoro
In this paper, we propose an omnidirectional mobile mechanism with surface contact. This mechanism is expected to perform on rough terrain and weak ground at disaster sites. In the discussion on the drive mechanism, we explain how a two axes orthogonal drive transmission system is important and we propose a principle drive mechanism for omnidirectional motion. In addition, we demonstrated that the proposed drive mechanism has potential for omnidirectional movement on rough ground by conducting experiments with prototypes.
international conference on robotics and automation | 2018
Kenjiro Tadakuma; Eri Takane; Masahiro Fujita; Akito Nomura; Hirone Komatsu; Masashi Konyo; Satoshi Tadokoro
This letter proposes a planar omnidirectional crawler mobile mechanism. This mechanism is the basis for the mobility of search and rescue robots. A planar omnidirectional crawler aims to facilitate penetration into a narrow path and soft or fragile ground. In this letter, the effectiveness of the proposed transmission mechanism is experimentally determined. In addition, a planar omnidirectional crawler equipped with a transmission mechanism was developed, and its characteristics were investigated through experiments for the pressure applied to the ground.
Advanced Robotics | 2018
Masahiro Fujita; Kenjiro Tadakuma; Hirone Komatsu; Eri Takane; Akito Nomura; Tomoya Ichimura; Masashi Konyo; Satoshi Tadokoro
ABSTRACT A gripper comprising a jamming membrane was developed with the capability of grasping collapsible, soft, and fragile objects without applying heavy pressure. In disaster sites, it is necessary for robots to grab various types of objects, such as fragile objects. Deformable grippers that contain bags filled with powder cannot handle collapsible or soft objects without excessive pressure. Changing powder density relatively by changing inner volume is one approach to overcome this problem. By expanding the concept and simplifying the variable inner volume of the gripping mechanism, we developed a jamming membrane comprising the following three layers: outer layer and inner layer made of rubber and a powder layer in between the outer and inner rubber layer. This jamming membrane allows collapsible, soft, or fragile objects to be held securely without applying too much pressure. We designed and developed a prototype of the jamming membrane gripper. Our experiments confirmed the validity of the proposed jamming membrane mechanism. GRAPHICAL ABSTRACT
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) | 2017
Masahiro Fujita; Eri Takane; Akito Nomura; Hirone Komatsu; Kenjiro Tadakuma; Masashi Konyo; Satoshi Tadokoro
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) | 2017
Masahiro Fujita; Akito Nomura; Hirone Komatsu; Eri Takane; Riichiro Tadakuma; Kenjiro Tadakuma; Masashi Konyo; Satoshi Tadokoro
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) | 2017
Eri Takane; Masahiro Fujita; Akito Nomura; Hirone Komatsu; Kenjiro Tadakuma; Masashi Konyo; Satoshi Tadokoro
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) | 2017
Hirone Komatsu; Masahiro Fujita; Eri Takane; Akito Nomura; Kenjiro Tadakuma; Masashi Konyo; Satoshi Tadokoro
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) | 2017
Masahiro Fujita; Eri Takane; Akito Nomura; Hirone Komatsu; Kenjiro Tadakuma; Masashi Konyo; Satoshi Tadokoro
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) | 2017
Hirone Komatsu; Masahiro Fujita; Eri Takane; Akito Nomura; Richiro Tadakuma; Kenjiro Tadakuma; Masashi Konyo; Satoshi Tadokoro
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) | 2017
Hirone Komatsu; Masahiro Fujita; Eri Takane; Akito Nomura; Kenjiro Tadakuma; Masashi Konyo; Satoshi Tadokoro