| Budget Amount *help |
¥22,490,000 (Direct Cost: ¥17,300,000、Indirect Cost: ¥5,190,000)
Fiscal Year 2018: ¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2017: ¥8,060,000 (Direct Cost: ¥6,200,000、Indirect Cost: ¥1,860,000)
Fiscal Year 2016: ¥9,620,000 (Direct Cost: ¥7,400,000、Indirect Cost: ¥2,220,000)
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| Outline of Final Research Achievements |
By integrating high-speed vision and high-speed actuator, a bipedal running system with instantaneous response characteristics was realized. As for system development, the high torque-weight-ratio actuators suitable for bipedal movement were developed and high-speed bipedal running mechanism equipped with 1000 fps compact lightweight vision at the head part was designed. With respect to posture stabilization, a new feedback-based control method in that posture recovery motion is repeatedly executed in response to instantaneous detection of the beginning of falling was established, instead of the commonly-used previously-determined feedforward type falling avoidance. These technologies have made it possible to achieve acrobatic tasks: robust running in unpredicted external force and on rough terrain, somersault by accelerating and jumping forward to make one rotation, and emergency stop action for rapidly incoming obstacles during running.
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