| Budget Amount *help |
¥24,570,000 (Direct Cost: ¥18,900,000、Indirect Cost: ¥5,670,000)
Fiscal Year 2016: ¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2015: ¥9,490,000 (Direct Cost: ¥7,300,000、Indirect Cost: ¥2,190,000)
Fiscal Year 2014: ¥10,530,000 (Direct Cost: ¥8,100,000、Indirect Cost: ¥2,430,000)
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| Outline of Final Research Achievements |
In the real environment, robots encounter several interferences to them while performing physical interactions with humans and objects. For coping with various disturbances, situations, and tasks, robots should have flexible actuators and realize coordinated motions of each actuator which drive their joints. In this research, we manufactured linear vernier motors as small and high power electromagnetic linear actuator which can control its viscoelasticity and developed an upper body humanoid robot which has a trunk and two arms driven by these linear motors. Furthermore, we investigated the effect of the kinetic chain for robots' motion which is realized by physically connected actuators.
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