Kazuo Morita

Proposal of anthropomorphic hand with passive warped fingertip

Artificial arm is one of the most important robotic applications for persons who lost their original arm by accident or disease, but it is difficult to realize the real motion of human by the conventional artificial arm. This paper describes new anthropomorphic hand that consists of the operation unit and holding part and achieves the flexible motion by the passive warped fingertip. The operation unit is made by the index finger, middle finger and thumb, and each finger contains three degrees of freedom. In this paper, the prototype of robot hand was tested its motion, and confirmed some tool manipulation.

4-Legged Mechanism of Realizing Dynamic Running. - Comparison of Movement Performance by Change of Locomotion Pattern

This paper discusses the possibility to realize both of walking and running by a single robot, which is made by the combination mechanism of linkages and actuators. This linkage mechanism have actuators below the number of joint, therefore it enables to reduce the weight of the robot. This study aims at realizing the 4-legged locomotion by controlling the phase to manipulate the legs made by linkage mechanism. This paper firstly shows the similarity of walking and running of 4-legged animal, and proposes the way of realizing the both actions by the change of phase of motion. In order to design the leg mechanism with effective linkage systems, the kinematics simulator was developed and the performance of the prototype was tested

Basic properties of anthropomorphic hand with passive warped fingertip

Anthropomorphic arm and leg help the daily life of persons who lost their original arm by accident or disease, but it is difficult to realize the real motion of human by the conventional artificial arm. This paper describes new anthropomorphic hand that consists of the operation unit and holding part and achieves the flexible motion by the passive warped fingertip. The operation unit is made by the index finger, middle finger and thumb, and each finger contains three degrees of freedom. In this paper, the prototype of robot hand was tested its motion, and confirmed some tool manipulation.

4-Legged Mechanism of Realizing Dynamic Running. -Movement Performance Assessment of Locomotion Pattern by Prototype I-

This paper discusses the possibility to realize both of walking and running by a single robot, which is made by the combination mechanism of linkages and actuators. This linkage mechanism have actuators below the number of joint, therefore it enables to reduce the weight of the robot. This study aims at realizing the 4-legged locomotion by controlling the phase to manipulate the legs made by linkage mechanism. This paper firstly shows the designing of leg mechanism with effective linkage systems. And the kinematics simulator is developed and the performance of the prototype I is tested. In result some issues are found. Next, we shows design of prototype II that is improved above issues. Prototype II has improvement drive unit that is able to changing locomotion while moving.

4-legged mechanism of realizing dynamic running - a study on change of locomotion pattern by phase declination

This paper discusses the possibility to realize both of walking and running at a single robot, which is made by the combination mechanism of linkages and actuators. This linkage mechanism is driven by less numbers of actuators than degrees of freedom, and therefore it enables to reduce the weight of the robot. This study aims at realizing the 4-legged locomotion by controlling the phase to manipulate the legs made by linkage mechanism. This paper firstly shows the similarity of walking and running of 4-legged animal, and proposes the way of realizing the both actions by the declination of phase of motion. In order to design the leg mechanism with effective linkage systems, the kinematics simulator was developed and the performance of the prototype was tested.

4-legged mechanism of realizing dynamic running. - Basic movement of prototype II with drive system that enables locomotion change -

This paper discusses the possibility to realize both of walking and running by a single robot, which is made by the combination mechanism of linkages and actuators. This linkage mechanism have actuators below the number of joint, therefore it enables to reduce the weight of the robot. This study aims at realizing the 4-legged locomotion by controlling the phase to manipulate the legs made by linkage mechanism. This paper firstly shows feature of prototype 11 that has improvement drive unit that is able to changing locomotion while moving. Next, we shows design of control system that was able to changing locomotion while moving.

Proposal of 4-leg Locomotion by Phase Change

This paper discusses the possibility to realize both of walking and running at a single robot, which is made by the combination mechanism of linkages and actuators. This linkage mechanism have actuators below the number of joint, therefore it enables to reduce the weight of the robot. This study aims at realizing the 4-legged locomotion by controlling the phase to manipulate the legs made by linkage mechanism. This paper firstly shows the similarity of walking and running of 4-legged animal, and proposes the way of realizing the both actions by the change of phase of motion. In order to design the leg mechanism with effective linkage systems, the kinematics simulator was developed and the performance of the prototype was tested.

Mechanisms and control of under-actuated 4-legged locomotion robot -proposal of walking model by under-actuated system

This paper discusses the possibility to realize both of walking and running at a single robot with the under-actuated legged system, which is made by the combination mechanism of linkages and actuators. The under-actuated system is driven by less numbers of actuator than the numbers of degree of freedom of a system, and therefore it enables to reduce the weight of the robot. This study aims at realizing the 4-legged locomotion by controlling the phase to manipulate the legs made by links which is designed by the under-actuated system. This paper first shows the similarity of walking and running of 4-legged animal, and proposes the way of realizing the both actions by the declination of phase of motion. In order to design the leg mechanism with effective linkage systems, the kinematics simulator was developed and the performance was tested by the prototype.