Dynamic Brachiation with Aerial Phase in Non-grasping State
| Project/Area Number |
15K12114
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| Research Category |
Grant-in-Aid for Challenging Exploratory Research
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent robotics
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| Research Institution | The University of Tokyo |
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Principal Investigator |
Yamakawa Yuji 東京大学, 大学院情報理工学系研究科, 助教 (90624940)
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| Project Period (FY) |
2015-04-01 – 2017-03-31
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| Project Status |
Completed (Fiscal Year 2016)
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| Budget Amount *help |
¥3,380,000 (Direct Cost: ¥2,600,000、Indirect Cost: ¥780,000)
Fiscal Year 2016: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
Fiscal Year 2015: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
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| Keywords | ブラキエーション / 運動生成 / 高速ビジョン |
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| Outline of Final Research Achievements |
This research is to realize a new locomotive method “Brachiation” using small, lightweight, high torque actuators and its high-speed motion control. The brachiation motion is that the ape moves with the pendulum movement while grasping an object in the air. In order to realize it, development of a new brachiation robot, proposal of motion control of the robot and experiments for evaluating the proposed robot and method were performed.
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Report
(3 results)
Research Products
(3 results)
