| Project/Area Number |
15500104
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | The University of Electro-Communications |
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Principal Investigator |
KIMURA Hiroshi The University of Electro-Communications, Graduate school of information systems, assoc.professor, 大学院・情報システム学研究科, 助教授 (40192562)
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| Co-Investigator(Kenkyū-buntansha) |
HADA Yoshiro The University of Electro-Communications, Graduate school of information systems, research associate, 大学院・情報システム学研究科, 助手 (90313428)
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| Project Period (FY) |
2003 – 2004
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| Project Status |
Completed (Fiscal Year 2004)
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| Budget Amount *help |
¥2,700,000 (Direct Cost: ¥2,700,000)
Fiscal Year 2004: ¥1,300,000 (Direct Cost: ¥1,300,000)
Fiscal Year 2003: ¥1,400,000 (Direct Cost: ¥1,400,000)
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| Keywords | helper dog robot / biologically inspired method / adaptive walking / outdoor environment / interaction with human |
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| Research Abstract |
Intending to realize a quadruped robot assisting the disabilities, we carried out the basic study on the development of a helper robot, which can follow a disable person. In order to increase the ability of walking on irregular terrain in outdoor environment as a helper robot, we developed the self-contained quadruped robot "Tekken2". We implemented "side-way stepping reflex" and "re-stepping reflex" in addition to the already implemented biologically inspired control methods and increased the adaptation ability to irregular terrain. As a result, we succeeded in the outdoor experiments using Tekken2. We also implemented the methods to measure the movable region using vision in outdoor environment.
On the other hand, as the function to interact with human, we mounted a stereo camera on Tekken2 and other stereo camera on the ceiling, and constructed the system, which made Tekken2 interact with human using those cameras. We demonstrated several interactive behavior of Tekken2, such as sitting in front of human while detecting human hand sign, and so on. As a result, we confirmed the effectiveness of the constructed system.
Finally, we integrated all those system on the newly developed quadruped robot "Tekken3" and realized a self-contained helper dog robot, which has the sufficient functions as a prototype.
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