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Development of Master Slave Type Humanoid Rabot

Research Project

Project/Area Number 08650317
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionKYOTO UNIVERSITY (1998)
Osaka Prefecture University (1996-1997)

Principal Investigator

OSUKA Koichi  Kyoto University, Informatics, Associate Professor, 情報学研究科, 助教授 (50191937)

Project Period (FY) 1996 – 1998
Project Status Completed (Fiscal Year 1998)
Budget Amount *help
¥2,200,000 (Direct Cost: ¥2,200,000)
Fiscal Year 1998: ¥600,000 (Direct Cost: ¥600,000)
Fiscal Year 1997: ¥700,000 (Direct Cost: ¥700,000)
Fiscal Year 1996: ¥900,000 (Direct Cost: ¥900,000)
Keywordshumanoid robot / master-slave robot / biped robot / ヒューマノイド / 受動的歩行 / マニピュレータ / マスタースレーブシステム / 二足歩行 / 制御系
Research Abstract

In this research, we claimed that to develop an ideal humanoid robot we should develop a kind of tele-operated humanoid robot. Then we proposed a concept of master-slave-type humanoid robot. To realize the robot, we have to solve the following three problems at least.
(1) Realization of a master-slave-type biped robot : We have to define a master-slave-type biped robot and discuss a method for developeing such kind of robot
(2) Realization of cooperated motion of manipulator and leg : A biped robot with manipulator is a strongly unstable system. We have to design a trajectory following controller for the manipulator considering stability of the whole system.
(3) Mode changing : Master-Slave-Type Humanoid Robot may have several modes. We have to design a smooth mode changing method.
In this research, we studied the above three themes and had the following results.
(1)We developed a master-Slave-type biped robot, and show a realizability of the master-slave-type humanoid robot.
(2)We proposed a gain scheduling type nonlinear control method for the problem and showed the effectiveness of the method through experiments.
(3)To unify a traditional tele-operation technology, power assist technology and teaching-by-showing technology, we proposed a new concept Robotic Follower.

Report

(4 results)
  • 1998 Annual Research Report   Final Research Report Summary
  • 1997 Annual Research Report
  • 1996 Annual Research Report
  • Research Products

    (15 results)

All Other

All Publications (15 results)

  • [Publications] Koichi Osuka: "Master-slave-type humanoid robot project" Advanced Roboties. 11. 621-632 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] K. Tokuda, K. Osuka etc.: "Rescue Robot CUL : Carry and Power Assist Robot for Unspecified Land form" Prep. of IFAC Workshop on Control Natural Disasters CND'98. 91-94 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] 衣笠. 大須賀 他: "腕の運動を伴う脚ロボットSawro-Emuの屈伸運動実験" 日本ロボット人学会. 16. 1007-1011 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] K.Osuka: "Control Theoretical Approach to Motion Control of Legged Robot" Proc.1998 5^<th> Int.Workshop on Advanced Motion Control. 82-92 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] K. Osuka: "Nonlinear Observer Based Control of Link Systems on Unknown Slope Foundation" Proc.of 1998 JAPAN-U.S.A.Symposium on Flexible Automation. 509-512 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] K.Osuka: "Master-slave-type humanoid project" Advanced Robotics. 11. 621-632 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] K.Tokuda, K.Osuka etc.: "Rescue Robot CUL : Carry and Power Assist Robot for Unspecified Land Form" Prep.of IFAC Workshop on Control Natural Disasters CND'98. 91-94

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] T.Kinugasa, K.Osuka etc.: "Sitting Down and Standing Up Motion of Sauro-Emu with Manipulator Motions" J.of the Robotics Society of Japan. 16. 1007-1011 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] K.Osuka: "Control Theoretical Approach to Motion Control of Legged Robot" Proc.1998 5^<th> Int.Workshop on Advanced Motion Control. 88-92 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] K.Osuka: "Nonlinear Observer Based Control of Link Systems on Unknown Slope Foundation" Proc.of 1998 JAPAN-U.S.A.Symposium on Flexible Automation. 509-512 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Koichi Osuka: "Master-slave-type humanoid robot project" Advanced Robotics. 11・6. 621-632 (1997)

    • Related Report
      1998 Annual Research Report
  • [Publications] K.Tokuda,K.Osuka and T.Ono: "Resue Robot CUL : Carry and Power Asist Robot for Unspecified Land form" Prep・of IFAC Workshop on Control Natural Disasfers CND'93. 91-94 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] 衣笠、大須賀、小野: "腕の運動を伴う脚ロボットSauro-Emuの屈伸運動実験" 日本ロボット学会誌. 16・7. 1007-1011 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] K.Osuka: "Control Theoretical Approach to Motion Control of Legged Robot" Proc.1998 5th Int.Workshop on Adanced Motion Control. 88-92 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] K.Osuka and T.Ono: "Nonlinear Observer Bwed Control op Link Systems on Unkmtun Slope Foundation" Proc.of 1998 JAPAN-U.S.A.Symposium on Flecible Autonistion. 509-512 (1998)

    • Related Report
      1998 Annual Research Report

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Published: 1996-04-01   Modified: 2016-04-21  

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