| Budget Amount *help |
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2017: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2016: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2015: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
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| Outline of Final Research Achievements |
During rescue operations within devastated areas, rescue robots are required to access narrow areas with constrained posture to reach victims. Dealing with this problem, we have focused on the shuffling feet and shuffling body motion of humanoid robots. Regarding the shuffling feet motion, we especially targeted at the synchronous non-parallel feet shuffling feet motion because it is relatively stable, symmetric and simple comparing the other feet motions. We realized the direction control by changing the center of gravity point caused by the forward and backward inclination of the robot's body. The robustness was improved by the ZMP based contoller. We also showed that the sole pressure distribution pattern is limited to 4 and a specific pattern is suitable for smooth shuffle movement. Regarding the shuffling body motion, we proposed one example of shuffling body movement in the supine position and showed the contact angle between the back and the floor affect the moving distance.
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