| Project/Area Number |
15K05903
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Future University-Hakodate |
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Principal Investigator |
Mikami Sadayoshi 公立はこだて未来大学, システム情報科学部, 教授 (50229655)
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| Co-Investigator(Kenkyū-buntansha) |
兵頭 和幸 福岡工業大学, 情報工学部, 助教 (90550517)
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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 |
¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2017: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2016: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
Fiscal Year 2015: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
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| Keywords | 歩行ロボット / 2足歩行 / 歩行制御 / 安定性 / 受動歩行 / 靴 / 2足歩行ロボット / 歩行安定化 / 機構 / ２足歩行ロボット |
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| Outline of Final Research Achievements |
A stability enhancing device for a humanoid robot is proposed which does not rely on the robot's internal controller. The device is a simple stopper attached on a shoe and having a certain hight over floor, which is controlled its height by a motor and latched at the proper height. When a stance leg excessively inclines over a stable range, the stopper touches on the ground and the angular velocity is reduced by the effect of supporting point shift. By the experiments conducted on a small humanoid robot and human shoes, the stablization effect was confirmed.
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