Fall Avoidance for Humanoid Robot when Stumbling by Reducing Velocity of Fall with Internal Force Actuator
| Project/Area Number |
15K16069
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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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 |
Sugai Fumihito 東京大学, 大学院情報理工学系研究科, 特任助教 (30739256)
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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 |
¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2016: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
Fiscal Year 2015: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
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| Keywords | ヒューマノイド / 転倒回避 / CMG / コントロールモーメントジャイロ |
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| Outline of Final Research Achievements |
In this research, we focused on the method of avoiding falls for humanoid robot by stepping which is less risk of damage and can cope with large disturbance than the method by shock absorbing when the robot falls down, and aimed to expand its application range. In order to prevent overturning the robot with the speed as if it got stumble in walking, we proposed the method which reduces the falling speed and expands a time margin for performing the foot stepping motion by using a control moment gyro (CMG).
Specifically, we studied about a CMG placement method, an unloading method, an attitude control with using a CMG, and confirmed that it is possible to suppress falls with using a CMG.
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Report
(4 results)
Research Products
(1 results)
