Coordinated body movement of an upper-body humanoid robot with a flexible trunk driven by electromagnetic linear actuators
| Project/Area Number |
26700026
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| Research Category |
Grant-in-Aid for Young Scientists (A)
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| Allocation Type | Partial Multi-year Fund |
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| Research Field |
Intelligent robotics
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| Research Institution | Osaka University |
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Principal Investigator |
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| Research Collaborator |
URAI Kenji
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| Project Period (FY) |
2014-04-01 – 2018-03-31
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| Project Status |
Completed (Fiscal Year 2017)
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| 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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| Keywords | リニア電磁アクチュエータ / リニアバーニアモータ / ヒューマノイドロボット / 運動連鎖 / 力制御 / 身体協調運動 |
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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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Report
(5 results)
Research Products
(37 results)
