Dynamic Brachiation with Aerial Phase in Non-grasping State

• Project/Area Number: 15K12114
• Research Category: Grant-in-Aid for Challenging Exploratory Research
• Allocation Type: Multi-year Fund
• Research Field: Intelligent robotics
• Research Institution: The University of Tokyo
• Principal Investigator: Yamakawa Yuji 東京大学, 大学院情報理工学系研究科, 助教 (90624940)
• Project Period (FY): 2015-04-01 – 2017-03-31
• Project Status: Completed (Fiscal Year 2016)
• Budget Amount: ¥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)
• Keywords: ブラキエーション / 運動生成 / 高速ビジョン

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.

Research Products

• [Presentation] Development of a Brachiation Robot with Hook-shaped End Effectors and Realization of Brachiation Motion with a Simple Strategy (2016)
  • Author(s): Yuji Yamakawa, Yuki Ataka and Masatoshi Ishikawa
  • Organizer: 2016 IEEE International Conference on Robotics and Biomimetics
  • Place of Presentation: Shangri-la Hotel Qingdao (Qingdao, China)
  • Year and Date: 2016-12-04
  • Int'l Joint Research
• [Presentation] ブラキエーションロボットの開発と運動生成（第1報） (2016)
  • Author(s): 山川雄司，古山佳和，石川正俊
  • Organizer: ロボティクス・メカトロニクス講演会2016
  • Place of Presentation: パシフィコ横浜（横浜）
  • Year and Date: 2016-06-10
• [Presentation] ブラキエーションロボットの開発と運動生成（第2報） (2016)
  • Author(s): 山川雄司，安宅佑樹，石川正俊
  • Organizer: ロボティクス・メカトロニクス講演会2016
  • Place of Presentation: パシフィコ横浜（横浜）
  • Year and Date: 2016-06-10