Mochiyama Hiromi

<p>Miniature aquatic robots are required for survey in a narrow space. In this study, we develop a robot with multiple elastic plates, in whitch a vibration motor selectively resonates the elastic plate to achieve propulsion in multiple directions...

In this paper, we propose a method to fabricate a slim continuum manipulator by embedding pulling-wire mechanisms into a thin rubber layer formed around an elastic backbone of the manipulator without increasing its elasticity largely. Fundamental ...

<p>In this research, a soft passive rotational joint using magneto-rheological fluid(MRF) is proposed. The proposed device has a rotational vane which allows us to utilize not only the shear mode of MRF but also its valve mode. Experimental result...

<p>Herein we present the research and development in Smart Mechanics; a project affiliated by NEDO in the University of Tsukuba. We are developing new robotic joints using a combination of magnetorheological fluids and springs. The developed semi-...

<p>In this research, we propose a propulsion mechanism of a swimming quick capable of rapid turning. In this swimming mechanism of the underwater robot, the rod-shaped continuum waterjet pipe is oriented in all directions by wire driving, and ther...

<p>This paper introduce a sensor for detection of surface undulation. This sensor is composed of two objects. One is artificial rubber skin layer with strain gauge. The second is a tactile devise, we call a "tactile contact lens (TCL)". The tactil...

<p>In this paper, we propose a method to fabricate a slim continuum manipulator by embedding 3 pulling-wire mechanisms into a thin rubber layer formed around an elastic backbone of the manipulator without increasing its elasticity largely. Fundame...

In this paper, we show a study on a planar non-constant curvature model for the continuum manipulator with rubber skin layer including pulling-wire mechanism. In order to derive the condition for calculating the shape of the manipulator, we make t...

In this paper, we propose a compact jumping robot using snap-through buckling of an arched closed elastica supported by an Omega-shaped frame in an effort to quick stair climbing. The proposed jumping robot is a modified version of an existing rob...

We propose the Finger Cot type Strain-gauges-sandwiched Rubber Artificial Skin Layer. It is a wearable sensor for measurement of the finger pressure. The thickness, lightness and excellent wearing feeling are the better features than other wearabl...

In this paper, we report a stair-step jumping experiment using an improved version of a compact jumping robot based on snap-through buckling of an arch-type closed elastica supported by an fi-shaped frame. Experimental results show that the robot ...

In this paper, we propose a position and orientation measurement system based on shape estimation of elastic rod. The proposed system consists of an elastic rod, a 6-axes force/torque sensor and a PC with a display for real time measurement and di...

In this paper, we propose a compact swimming mechanism which has not only horizontal but also vertical slalom performance despite its compact body. The proposed mechanism has two distinguished features. One is the use of a water jet as a driving d...

In this paper, we consider a flying strategy of a single rotor flying robot with vertical wings, with which we have a possibility to develop a very small and light-weight flying robot. Based on a flight experiment using its prototype with a size o...

In this paper, we propose a shooting manipulator for accurate 10-meter reaching. The shooting manipulator mechanistically acts on a remote target by constraining an end-effector catapulted by an instantaneous force. The characteristic of the propo...

In this paper, we propose a novel touch sensor named strain-gauge-sandwiched rubber artificial skin layer formed by direct dipping. One of the most distinguished features of the proposed sensor is its rubber layer forming method where a part of th...

The tactile roughness perception of fine-texture has been investigated by using non-uniform surface materials such as polishing papers, and it has been difficult to quantitatively discuss the relationship between physical properties of surface tex...

This paper deals with a computation method for calculating a largely deformed shape of a closed elastica subject to external forces. The computation method considered here utilizes a dimensionless discrete elastica model discretized by a multi-lin...

Tactile roughness perception of fine-texture has been investigated by using non-uniform surface materials (e.g., polishing papers), and therefore it was difficult to quantitatively discuss the relationship between physical surface property and per...

In this paper, we propose a palm-top jumping robot based on snap-through buckling of closed elastica for stair-climbing. The proposed robot is a modified version of an existing robot using spatially deformable arch-type closed elastica, but has mu...

In this paper, we report a work for investigation that whether or not depth of texture affect tactile feeling in the case that the textures on the surface are same. For making tactile feeling plates with variation of depth of hollows in texture on...

In this paper, we propose a shape computation algorithm for quasi-static shape transition of a planar closed elastica which has a function as an impulse force generator utilizing a snap-through buckling of an elastic strip. The proposed algorithm ...

In this paper, we propose a texture display using phenomenon named hidden vibration perception. This was found in an investigation of haptic feelings with vibrating plate. Hidden vibration perception is a tactile perception that when drag a plane ...

In this paper, we propose a palm-top single-rotor flying robot with asymmetric wings as an experimental prototype for designing a novel compact robot, to move over uneven terrain. The proposed robot prevents its body from rotating by the rotor rea...

In this paper, we propose an artificial suction tongue inspired by the biological tongue of a chameleon. The artificial tongue easily sticks to a target surface. When the artificial tongue is impulsively pulled back, large grasping force is passiv...

In this paper, we propose a swimming robot driven by a water jet pump with an active exible nozzle for steering. The proposed robot is of 220[mm] in length and consists of a slim body for entering a narrow space. Experimental results using a proto...

The goal of this study is to realize the flapping robot which can take off without run, as a bird jumps from the ground and climb strongly. In this paper, we report the result of comparison experiments of some types of flapping wings. We have meas...

In this paper, we propose a repeated impulse force generator by an active pantograph with a rubber as an energy storage. The proposed impulse force generator consists of a rubber which has high energy storage capacity per unit mass, only one motor...

In this paper, we investigate the property of an impulse force generator based on snap-through buckling of a robotic closed elastic rod which is considered as one of good examples of continuum robots. The impulse force generator considered here ut...

In this paper, we propose a non-holonomic single rotor micro flying robot which has high energy efficiency and sufficient mobility, in spite of being compact and lightweight. The proposed robot is just a mechanism where a rotor and a body connecte...

In this paper, we propose a jumping robot by an active pantograph with a rubber as an energy storage. The proposed robot has the repeated jumping capability to jump on the desk repeatedly. The proposed robot is based on the mechanism which consist...

In this paper, we propose a shooting manipulation system for manipulating a distant object in an instant. The proposed system mechanistically acts on a remote target by constraining an end-effector catapulted by an impulsive air flow through a fle...

In this paper, we propose an impulse force generator for catapulting an object. The proposed impulse force generator utilizes snap-through buckling of an elastic body. The distinguished feature of the device is to adopt a serial chain of torsion s...

In this video, we propose the robotic jerboa which is a compact bipedal kick-and-slide robot powered by unidirectional impulse force generators. The robotic jerboa moves fast not only running forward but also turning right and left by kicking and ...

In this paper, we show a performance of the suck-and-blow master-slave system for micro-manipulation. The system was proposed by authors. In the proposed system, we can generate the air flow at the tip of the micro-straw in the slave side accordin...

The operability of micro-manipulator is a key issue to improve the efficiency of research and development in biological field. Though the real magnified haptic feedback must be helpful to improve the maneuverability of micro-manipulator, its reali...

In this paper, we propose the robotic jerboa which is a compact bipedal kick-and-slide robot realizing quick turnings powered by unidirectional impulse force generators. The robotic jerboa moves fast not only running forward but also turning right...