H
Hirotaka Komura
Researcher at Tokyo Institute of Technology
Publications - 9
Citations - 74
Hirotaka Komura is an academic researcher from Tokyo Institute of Technology. The author has contributed to research in topics: Electronic differential & Articulated robot. The author has an hindex of 3, co-authored 9 publications receiving 47 citations.
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Journal ArticleDOI
Development of snake-like robot ACM-R8 with large and mono-tread wheel
TL;DR: ‘ACM-R8’ is a new snake-like robot which can climb stairs and reach doorknobs in addition to the features explained above, and incorporates several key features: joints with parallel link mechanism, mono-tread wheels with internal structure, force sensors and ‘swing-grousers’ which were developed to improve step climbability.
Proceedings ArticleDOI
Study of swing-grouser wheel: A wheel for climbing high steps, even in low friction environment
TL;DR: This paper proposes a new wheel mechanism, the swing-grouser wheel, which can climb high steps (especially in low friction environments) and has high energy efficiency and the energy efficiency was better than that of the previous model.
Proceedings ArticleDOI
Spiral Mecanum Wheel achieving omnidirectional locomotion in step-climbing
TL;DR: A new type of omnidirectional wheel is proposed, “Spiral Mecanum Wheel”, which enables vehicle climb the step, which consists of spiral beams and many small rollers, and these smallRollers are arranged along the spiral beams.
Proceedings ArticleDOI
Eccentric Crank Rover: A novel crank wheel mechanism with eccentric wheels
TL;DR: A novel crank wheel mechanism, the “Eccentric Crank Rover” (ECR), which is an enhanced crankWheel mechanism with eccentric wheels, which increases the under-body clearance, and change the body trajectory from straight to trochoid curve, which has the same shape as the crank legs but opposite phase trajectory.
Proceedings ArticleDOI
Turning method that minimizes turning radius for snake-like robot with active joints and active wheels
TL;DR: A new turning method for snake-like robot which has both pitch and yaw joints, and thruster mechanism in each module is proposed, and it was confirmed that the new method made the turning radius smaller.