| Budget Amount *help |
¥4,940,000 (Direct Cost: ¥3,800,000、Indirect Cost: ¥1,140,000)
Fiscal Year 2017: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2016: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2015: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
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| Outline of Final Research Achievements |
In this research, we have established a robot structure and a method of motor control with the aim of developing a concrete wall inspection robot that can travel while photographing walls of social infrastructure and buildings. Furthermore, the effect of wall contact and rotor shape on power consumption has been clarified. Moreover, we have designed the control system to ensure the stability based on that model, and proposed simple control system with lateral wind resistance capability in simulation and experiment. The experiments on that control were carried out in outdoor buildings. In order to perform remote control, a camera was attached to HORNET, and the video transfer was sent to the operator. As described above, HORNET can be stabilized and remote control for HORNET has been established.
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