musculoskeletal humanoid robot with soft actuators for biomechanics studies
| Project/Area Number |
15H05320
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| Research Category |
Grant-in-Aid for Young Scientists (A)
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| Allocation Type | Single-year Grants |
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| Research Field |
Intelligent robotics
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| Research Institution | The University of Tokyo |
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Principal Investigator |
NIIYAMA Ryuma 東京大学, 大学院情報理工学系研究科, 講師 (00734592)
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| Project Period (FY) |
2015-04-01 – 2018-03-31
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| Project Status |
Completed (Fiscal Year 2017)
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| Budget Amount *help |
¥24,180,000 (Direct Cost: ¥18,600,000、Indirect Cost: ¥5,580,000)
Fiscal Year 2017: ¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2016: ¥6,890,000 (Direct Cost: ¥5,300,000、Indirect Cost: ¥1,590,000)
Fiscal Year 2015: ¥12,220,000 (Direct Cost: ¥9,400,000、Indirect Cost: ¥2,820,000)
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| Keywords | 人型ロボット / バイオメカニクス / 人工筋肉 / 筋骨格ロボット / 知能機械 / ソフトアクチュエータ |
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| Outline of Final Research Achievements |
The goal of this research is developing an anthropomorphic active dummy of human body with muscle-driven bio-inspired humanoid robot. We developed a thin flexible pneumatic actuator that mimic bionic muscle. In the pilot studies, we conducted vertical jumping experiments with a legged robot and arm swing experiments with high-speed robot arm. We integrated these components into a full body musculoskeletal humanoid robot. We chose swimming movements for the experiments. In a large water tank, the robot performed dolphin kick motions. The orientation and thrust force are measured in the experiment. We verified that the musculoskeletal robot can be a research platform for biomechanics studies.
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Report
(4 results)
Research Products
(9 results)
