| Project/Area Number |
15K12120
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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 | Kagawa University |
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Principal Investigator |
Guo Shuxiang 香川大学, 工学部, 教授 (40273346)
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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 |
¥3,510,000 (Direct Cost: ¥2,700,000、Indirect Cost: ¥810,000)
Fiscal Year 2016: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2015: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
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| Keywords | 生物型Ｍother-sonロボットシステム / 生物（ウミガメ）型ハイブリッド駆動機構 / 球型ロボット / 生物型マイクロロボット / 生物型Ｍother-sonロボット / 球型 ロボット / 生物型ハイブリッド駆動機構 / 親子ロボット |
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| Outline of Final Research Achievements |
A Novel Type of Amphibious Bio-inspired Spherical Mother-son Robot System with Multi Functions has been developed. Conventional underwater intervention tasks are performed by underwater vehicles equipped with rigid multi-link arms. However, the movements of conventional mechanical arms exert reactive force on the vehicle platform due to their enormous bulk. Additionally, they cannot be used for small object recovery. In this research, an ionic conducting polymer film (ICPF) actuator-based crayfish-inspired microrobot is designed and developed as a son robot for object recovery, which is connected to the amphibious father robot by copper wires. The crayfish-like son robot is used as the mechanical arm of the father ;son robot system, which can grasp the small object especially in restricted spaces. The crayfish-inspired son robot actuated by ten ICPF actuators can realize underwater basic motions. The father robot can emit the son robot for object recovery.
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