• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to previous page

Fall Avoidance for Humanoid Robot when Stumbling by Reducing Velocity of Fall with Internal Force Actuator

Research Project

Project/Area Number 15K16069
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeMulti-year Fund
Research Field Intelligent robotics
Research InstitutionThe University of Tokyo

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)

Project Period (FY) 2015-04-01 – 2018-03-31
Project Status Completed (Fiscal Year 2017)
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)
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
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.

Report

(4 results)
  • 2017 Annual Research Report   Final Research Report ( PDF )
  • 2016 Research-status Report
  • 2015 Research-status Report
  • Research Products

    (1 results)

All 2017

All Presentation (1 results)

  • [Presentation] ダブルジンバルコントロールモーメントジャイロによるヒューマノイドロボットの姿勢制御2017

    • Author(s)
      菅井文仁 小島邦生 野沢峻一 垣内洋平 岡田慧 稲葉雅幸
    • Organizer
      第18回 計測自動制御学会システムインテグレーション部門講演会
    • Related Report
      2017 Annual Research Report

URL: 

Published: 2015-04-16   Modified: 2019-03-29  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi