| Project/Area Number |
10355011
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| Research Category |
Grant-in-Aid for Scientific Research (A)
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| Allocation Type | Single-year Grants |
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| Section | 展開研究 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | The University of Tokyo |
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Principal Investigator |
INOUE Hirochika The University of Tokyo, Professor, 大学院・工学系研究科, 教授 (50111464)
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| Co-Investigator(Kenkyū-buntansha) |
YOKOKOJI Yasuyoshi Kyoto University, Associate Professor, 大学院・工学研究科, 助教授 (30202394)
HASEGAWA Tsutomu Kyushu University, Professor, 大学院・システム情報科学研究科, 教授 (00243890)
ARAI Tamio The University of Tokyo, Professor, 大学院・工学系研究科, 教授 (40111463)
TSUBOUCHI Koji Tsukuba University, Lecturer, 電子情報工学系, 助教授 (80192649)
KONNO Yasuyoshi Tohoku University, Associate Professor, 大学院・工学研究科, 助教授 (90250688)
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| Project Period (FY) |
1998 – 1999
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| Project Status |
Completed (Fiscal Year 1999)
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| Budget Amount *help |
¥31,500,000 (Direct Cost: ¥31,500,000)
Fiscal Year 1999: ¥10,000,000 (Direct Cost: ¥10,000,000)
Fiscal Year 1998: ¥21,500,000 (Direct Cost: ¥21,500,000)
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| Keywords | multi-legged robot / robot platform / robot intelligence |
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| Research Abstract |
The objective of this research project is to develop a multi-legged robot platform that is capable of being commonly utilized on performing various researches of intelligent robots. We have especially focused on the robot platform that has been developed from 1995-1997 on the research project grant-in-aid referred to as "intelligent robot," and we have evolved collaborative work to transform the platform into its advanced version for achieving our aim.
(1) Development of a multi-legged robot platform, Jrob-2 : We have integrated and standardized all the components of Jrob-1 (which are a vision system, circuit boards, computer, and software and which have been developed on the research project grant-in-aid), and we have assembled them into an advanced multi-legged robot platform, Jrob-2. The vision system has two cameras and its pan, tilt, and congestion are controllable. It is capable of actively processing 3-dimensional images in real time. Gyroscopes and other sensors are equipped to take the valance of the robot. As the operating system, we have installed Real-Time Linux and all the fundamental behaviors of the robot are coded in C language.
(2) Tutorial of Jrob-2 in the Annual Conference of the Japan Society of Mechanical Engineering : The team for developing Jrob-2 held a tutorial of its hard/soft ware and its fundamental behavior library in 1999 for the purpose of making the robot widely utilized by robotics researchers.
(3) As for making evolutions of intelligent machine based on the platform, collaborative researchers have dealt with widely ranged research topics by taking their own approaches. Specifically, they have studied the quantitative relationship between the robot posture in locomotion and its mobility, generating locomotion by superimposing reactive behaviors, motion planning, cooperative transportation, and integration of vision and behavior. These research results are published in an over 300 pages report.
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