| Project/Area Number |
15K18090
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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 |
Control engineering/System engineering
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| Research Institution | Kyushu Institute of Technology |
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Principal Investigator |
Hanazawa Yuta 九州工業大学, 大学院工学研究院, 助教 (40714770)
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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 |
¥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)
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| Keywords | legged 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 |
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| 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.
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