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In our previous study, we demonstrated the feasibility of a mobile robot that hopped up and down the steps under Earth\u2019s gravity, and we assessed its performance of the robot by performing numerical simulations. In the present study, we evaluated the performance of the mobile robot as it moved on a flat, low-friction floor, and we assessed the implementability of a device capable of fixing the robot\u2019s body to a platform, by conducting a round-trip movement experiment. Furthermore, we proposed a modified mobile robot equipped with an oscillation mechanism and verified the feasibility of the modified mobile robot through comparative experiments.<\/jats:p>","DOI":"10.20965\/jrm.2026.p0598","type":"journal-article","created":{"date-parts":[[2026,4,19]],"date-time":"2026-04-19T15:02:06Z","timestamp":1776610926000},"page":"598-607","source":"Crossref","is-referenced-by-count":0,"title":["Mobile Robot Utilizing the Rotational Motion of its Arms \u2014Effect of Applying an Oscillation Mechanism\u2014"],"prefix":"10.20965","volume":"38","author":[{"given":"Ryota","family":"Hayashi","sequence":"first","affiliation":[{"name":"Department of Mechanical Systems Engineering, Okayama University of Science, 1-1 Ridai-cho, Kita-ku, Okayama, Okayama 700-0005, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ryo","family":"Oishi","sequence":"additional","affiliation":[{"name":"Graduate School of Science and Engineering, Okayama University of Science, 1-1 Ridai-cho, Kita-ku, Okayama, Okayama 700-0005, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yasuyuki","family":"Setoyama","sequence":"additional","affiliation":[{"name":"Department of Electronic Control Engineering, National Institute of Technology, Kagoshima College, 1460-1 Shinko, Hayato-cho, Kirishima, Kagoshima 899-5193, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Koji","family":"Yoshida","sequence":"additional","affiliation":[{"name":"Department of Mechanical Systems Engineering, Okayama University of Science, 1-1 Ridai-cho, Kita-ku, Okayama, Okayama 700-0005, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9225-4419","authenticated-orcid":true,"given":"Tetsuya","family":"Kinugasa","sequence":"additional","affiliation":[{"name":"Department of Robotics, Kindai University, 1 Takaya Umenobe, Higashi-Hiroshima, Hiroshima 739-2116, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"8550","published-online":{"date-parts":[[2026,4,20]]},"reference":[{"key":"key-10.20965\/jrm.2026.p0598-1","unstructured":"T. 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