| Budget Amount *help |
¥24,180,000 (Direct Cost: ¥18,600,000、Indirect Cost: ¥5,580,000)
Fiscal Year 2017: ¥6,890,000 (Direct Cost: ¥5,300,000、Indirect Cost: ¥1,590,000)
Fiscal Year 2016: ¥7,150,000 (Direct Cost: ¥5,500,000、Indirect Cost: ¥1,650,000)
Fiscal Year 2015: ¥10,140,000 (Direct Cost: ¥7,800,000、Indirect Cost: ¥2,340,000)
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| Outline of Final Research Achievements |
While anticipated a super aging society in Japan, intelligent robots are getting attention. Yet, industrial robots have never been realized a movement of human-muscle-like property in terms of intrinsic safe with compliant characteristics by hardware level. This property is deserved for assistive robot in rehabilitation robotics or for next-generation FAs. In this project, the researches underlying development of the actuator device, control of position, impedance, and force has been challenged. Learning control input based on various sensors were experimentally demonstrated on actual hardware platform. It is an important result not to pseudo control of conventional industrial robot with high impedance actuator/joint but to build fundamental technology of variable and low impedance actuator/joint to realize intrinsic safetiness.
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