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Development of whole body walking control for high-speed limit cycle walking

Research Project

Project/Area Number 15K18090
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeMulti-year Fund
Research Field Control engineering/System engineering
Research InstitutionKyushu Institute of Technology

Principal Investigator

Hanazawa Yuta  九州工業大学, 大学院工学研究院, 助教 (40714770)

Project Period (FY) 2015-04-01 – 2018-03-31
Project Status Completed (Fiscal Year 2017)
Budget Amount *help
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2017: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2016: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2015: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Keywordslegged robot / biped walking / mobile robot / リミットサイクル歩行 / 揺動質量 / 高速歩行 / I-SLIP / 2足歩行ロボット / リミットサイクル走行
Outline of Final Research Achievements

In this study, I investigated a walking generation method using the whole body motions to achieve high-speed limit cycle walking. Biped walking generation methods using lower body motions were studied. We however consider that walking generation methods using effects of arm-swing motions and inclining torso posture to achieve high-speed limit cycle walking. We first showed a novel running robot with an inerter. The robot can improve the running speed using inerter effects, since the inerter can change the natural period of the up-and-down motion of the robots. Moreover, we developed a novel mobile robot with a wobbling mass. This robot achieves level ground walking using effects of up-and-down motions of the wobbling mass. The periodic up-and-down motion of the wobbling mass generate propulsive effects of the robots. So, our mobile robot can walk on level ground with vertical torso posture.

Report

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

    (14 results)

All 2017 2016 2015 Other

All Journal Article (2 results) (of which Peer Reviewed: 2 results,  Open Access: 2 results,  Acknowledgement Compliant: 1 results) Presentation (11 results) (of which Int'l Joint Research: 2 results) Remarks (1 results)

  • [Journal Article] Asymmetric Swing-Leg Motions for Speed-Up of Biped Walking2017

    • Author(s)
      Yuta Hanazawa and Fumihiko Asano
    • Journal Title

      Journal of Robotics and Mechatronics

      Volume: 29 Issue: 3 Pages: 490-499

    • DOI

      10.20965/jrm.2017.p0490

    • NAID

      130007519939

    • ISSN
      0915-3942, 1883-8049
    • Year and Date
      2017-06-20
    • Related Report
      2017 Annual Research Report 2016 Research-status Report
    • Peer Reviewed / Open Access / Acknowledgement Compliant
  • [Journal Article] Efficient Biped Walking Using Ankle Mechanism with Asymmetrically Arranged Rubbers2017

    • Author(s)
      花澤雄太,浅野文彦
    • Journal Title

      Transactions of the Society of Instrument and Control Engineers

      Volume: 53 Issue: 5 Pages: 327-334

    • DOI

      10.9746/sicetr.53.327

    • NAID

      130006833490

    • ISSN
      0453-4654, 1883-8189
    • Related Report
      2017 Annual Research Report 2016 Research-status Report
    • Peer Reviewed / Open Access
  • [Presentation] 偏心リムレスホイールの移動原理に基づく2脚歩容2017

    • Author(s)
      花澤雄太,浅野文彦
    • Organizer
      日本機械学会 Robomec 2017
    • Related Report
      2017 Annual Research Report
  • [Presentation] 足首弾性の非対称性が作り出す平面足2足ロボットの歩行変化2017

    • Author(s)
      花澤雄太
    • Organizer
      第35回日本ロボット学会学術講演会
    • Related Report
      2017 Annual Research Report
  • [Presentation] 揺動質量を用いたリムレスホイールの平地歩行2017

    • Author(s)
      花澤雄太
    • Organizer
      計測自動制御学会第18回システムインテグレーション部門講演会
    • Related Report
      2017 Annual Research Report
  • [Presentation] Biped walking generation based on mimicking or rotational eccentric rimless wheel2017

    • Author(s)
      Yuta Hanazawa and Fumihiko Asano
    • Organizer
      SICE annual conference
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Inerter effects for running robots with mechanical impedance2017

    • Author(s)
      Yuta Hanazawa, Rin Takano and Masaki Yamakita
    • Organizer
      IEEE International conference on robotics and biomimetics (ROBIO)
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 揺動質量の能動上下動とイナーターを組み合わせた2脚歩行の高速化2016

    • Author(s)
      花澤雄太
    • Organizer
      第17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
    • Place of Presentation
      札幌コンベンションセンター
    • Year and Date
      2016-12-15
    • Related Report
      2016 Research-status Report
  • [Presentation] イナーターを有する高速走行に適したI-SLIP モデル2016

    • Author(s)
      花澤雄太
    • Organizer
      第34回日本ロボット学会学術講演会
    • Place of Presentation
      山形大学
    • Year and Date
      2016-09-07
    • Related Report
      2016 Research-status Report
  • [Presentation] 斜面を利用した高効率かつ漸近安定なSLIP モデルの走行制御2016

    • Author(s)
      花澤雄太
    • Organizer
      第34回日本ロボット学会学術講演会
    • Place of Presentation
      山形大学
    • Year and Date
      2016-09-07
    • Related Report
      2016 Research-status Report
  • [Presentation] ゴムの非対称配置による足首機構のプロトタイプ設計と性能改善2016

    • Author(s)
      花澤雄太
    • Organizer
      ROBOMECH2016
    • Place of Presentation
      パシフィコ横浜
    • Year and Date
      2016-06-08
    • Related Report
      2016 Research-status Report 2015 Research-status Report
  • [Presentation] 非対称なゴムを足首に有する2足ロボットの高効率歩行2015

    • Author(s)
      花澤雄太,浅野文彦
    • Organizer
      計測自動制御学会SI2015
    • Place of Presentation
      名古屋国際会議場
    • Year and Date
      2015-12-14
    • Related Report
      2015 Research-status Report
  • [Presentation] 大きな質量を有する胴体の運動を利用した3次元リミットサイクル2足歩行2015

    • Author(s)
      花澤雄太,浅野文彦
    • Organizer
      第33回日本ロボット学会学術講演会
    • Place of Presentation
      東京電機大学
    • Year and Date
      2015-09-03
    • Related Report
      2015 Research-status Report
  • [Remarks] 九州工業大学の研究者

    • URL

      http://www.ccr.kyutech.ac.jp/professors/tobata/t7/t7-4/entry-2508.html

    • Related Report
      2017 Annual Research Report

URL: 

Published: 2015-04-16   Modified: 2023-03-16  

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