２足ヒューマノイドロボットの転倒予測と転倒制御に関する研究
| Project/Area Number |
15F15702
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| Research Category |
Grant-in-Aid for JSPS Fellows
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| Allocation Type | Single-year Grants |
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| Section | 外国 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Waseda University |
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Principal Investigator |
高西 淳夫 早稲田大学, 理工学術院, 教授 (50179462)
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| Co-Investigator(Kenkyū-buntansha) |
MA GAN 早稲田大学, 理工学術院, 外国人特別研究員
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| Project Period (FY) |
2015-10-09 – 2017-03-31
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| Project Status |
Completed (Fiscal Year 2016)
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| Budget Amount *help |
¥2,300,000 (Direct Cost: ¥2,300,000)
Fiscal Year 2016: ¥1,100,000 (Direct Cost: ¥1,100,000)
Fiscal Year 2015: ¥1,200,000 (Direct Cost: ¥1,200,000)
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| Keywords | Humanoid robot / Fall controller / safe / impedance control / 2足ロボット / 転倒制御 / 柔軟制御 |
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| Outline of Annual Research Achievements |
In the period from 4/2016 to 12/2016, the following main things were done:
1-I conducted research in falling motion control of a humanoid robot; 2-Developing a new robot platform for falling; 3-I made presentations in two academic conferences; 4-I published one conference paper.
The research in humanoid fall can enhance the safety of a humanoid robot upon falling, which can otherwise cause severe damage to the robot itself. In my published paper, I analyzed the falling motion from an energy variation perspective of the robot system, and proposed a flexible landing controller to reduce the impact force to the robot,thereby reduce damage.
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| Research Progress Status |
28年度が最終年度であるため、記入しない。
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| Strategy for Future Research Activity |
28年度が最終年度であるため、記入しない。
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Report
(2 results)
Research Products
(6 results)
