5 papers · 1 filter
Anti-Gravity Walking by a Flying Humanoid Robot via Thrust-Rate Input Whole-Body Model Predictive Control
Kazuki Sugihara, Kei Okada
Flying humanoids are expected to perform tasks in diverse environments, while their existing locomotion is mainly limited to aerial flight and ground walking. The capability to mov…
Flexible Morphing Aerial Robot with Inflatable Structure for Perching-based Human-Robot Interaction
Ayano Miyamichi, Moju Zhao, Kazuki Sugihara +5
Birds in nature perform perching not only for rest but also for interaction with human such as the relationship with falconers. Recently, researchers achieve perching-capable aeria…
Adaptive Perching and Grasping by Aerial Robot with Light-weight and High Grip-force Tendon-driven Three-fingered Hand using Single Actuator
Hisaaki Iida, Junichiro Sugihara, Kazuki Sugihara +4
In previous research, various types of aerial robots equipped with perching mechanisms have been developed to extend operational time. However, most existing perching methods adopt…
Design, Control, and Motion Strategy for DELTA: Transformable Multilink Multirotor for Air-Ground Hybrid Locomotion and Manipulation
Kazuki Sugihara, Moju Zhao, Takuzumi Nishio +2
In recent years, multimodal locomotion capabilities have enabled robots to maneuver in both terrestrial and aerial domains. However, most of these robots are designed only for loco…
Design and Control of a Small Humanoid Equipped with Flight Unit and Wheels for Multimodal Locomotion
Kazuki Sugihara, Moju Zhao, Takuzumi Nishio +3
Humanoids are versatile robotic platforms owing to their limbs with multiple degrees of freedom. Although humanoids can walk like humans, they are relatively slow, and cannot run o…