2 papers
cs.RO2024
Development of a Compact Robust Passive Transformable Omni-Ball for Enhanced Step-Climbing and Vibration Reduction
Kazuo Hongo, Takashi Kito, Yasuhisa Kamikawa +2
This paper introduces the Passive Transformable Omni-Ball (PTOB), an advanced omnidirectional wheel engineered to enhance step-climbing performance, incorporate built-in actuators,…
cs.RO2024
Real-time Perceptive Motion Control using Control Barrier Functions with Analytical Smoothing for Six-Wheeled-Telescopic-Legged Robot Tachyon 3
Noriaki Takasugi, Masaya Kinoshita, Yasuhisa Kamikawa +4
To achieve safe legged locomotion, it is important to generate motion in real-time considering various constraints in robots and environments. In this study, we propose a lightweig…