専門・基盤技術グループ

Osamu Mori

  (森 治)

Profile Information

Affiliation
Professor, Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency
Professor, Graduate Institute for Advanced Studies, Space and Astronautical Science program, The Graduate University for Advanced Studies
Graduate School of Science and Engineering Department of Science and Engineering, Aoyama Gakuin University
Program-Specific Assistant Professor, School of Environment and Society, Tokyo Institute of Technology
Degree
Doctor of Engineering(Sep, 2002, Tokyo Institute of Technology)

Researcher number
30313331
ORCID ID
 https://orcid.org/0000-0001-9441-3356
J-GLOBAL ID
200901066812441450
researchmap Member ID
1000279275

Major Papers

 152
  • YAMAWAKI Tasuku, MORI Osamu, OMATA Toru
    JRSJ, 23(2) 213-219, Mar 15, 2005  Peer-reviewed
    We have proposed a self-reconfigurable parallel robot, which can be configured to 4R and 5R closed kinematic chains. By mounting it on a crawler mechanism, this paper proposes a parallel mechanism mobile robot. The combined mobile robot can gain some useful functionalities from the advantage of its parallel mechanism other than just locomotion, such as carrying an object by making use of its shape and getting over a bump by control of its center of gravity or zmp. In general, for a crawler robot to get over a vertical bump, friction is necessary in the vertical direction of the bump. The proposed sequence of getting over a bump does not rely on friction. Furthermore, cooperation of two or more such robots gains functionalities such as forming three-dimensional structures. Using two robots, we verify that the 4R robot can elevate the 5R robot, which enables the latter to reach a certain height in which it cannot alone. We analyze the statics of this motion to evaluate the necessary joint torque of the 4R robot.

Misc.

 195

Books and Other Publications

 5

Presentations

 698

Research Projects

 19

Industrial Property Rights

 33