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

Development of a Biped Running Robot System with Highly Responsive Characteristics

Research Project

Project/Area Number 16H06073
Research Category

Grant-in-Aid for Young Scientists (A)

Allocation TypeSingle-year Grants
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionThe University of Tokyo

Principal Investigator

Senoo Taku  東京大学, 大学院情報理工学系研究科, 講師 (10512113)

Project Period (FY) 2016-04-01 – 2019-03-31
Project Status Completed (Fiscal Year 2018)
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)
Keywords知能ロボティクス / 機械力学・制御 / センサフィードバック / 高速画像処理 / 画像処理
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.

Academic Significance and Societal Importance of the Research Achievements

ハードウェア/制御という両面から二足ロボットの技術的・理論的基盤を刷新し,従来とは異なるコンセプトに基づいてロバストかつアクロバティックな脚運動を実現したことに学術的意義がある.本研究成果によって二足運動の高性能化・多様化が実現し,直感的な方法により極限的な性能を追求した運動が効率的に生成可能となる.性能限界の追求に基づく本研究は,自律性を追求したAI型のロボットと対極的・相補的な関係にあるため,次世代ロボットの基盤技術として期待できる.また,高応答特性を有するロボットの実現は,運動能力の重要性を再認識させるインパクトを与え,ロボット要素技術の開発を促進する波及効果があり,本研究の意義は高い.

Report

(4 results)
  • 2018 Annual Research Report   Final Research Report ( PDF )
  • 2017 Annual Research Report
  • 2016 Annual Research Report
  • Research Products

    (18 results)

All 2019 2018 2017 2016 Other

All Journal Article (3 results) (of which Peer Reviewed: 3 results,  Open Access: 3 results) Presentation (12 results) (of which Int'l Joint Research: 5 results) Book (1 results) Remarks (2 results)

  • [Journal Article] Dynamic Intelligent Systems Based on High-Speed Vision2019

    • Author(s)
      Taku Senoo, Yuji Yamakawa, Shouren Huang, Keisuke Koyama, Makoto Shimojo, Yoshihiro Watanabe, Leo Miyashita, Masahiro Hirano, Tomohiro Sueishi, and Masatoshi Ishikawa
    • Journal Title

      Journal of Robotics and Mechatronics

      Volume: 31 Issue: 1 Pages: 45-56

    • DOI

      10.20965/jrm.2019.p0045

    • NAID

      130007601888

    • ISSN
      0915-3942, 1883-8049
    • Year and Date
      2019-02-20
    • Related Report
      2018 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Impedance Control Design Based on Plastic Deformation for a Robotic Arm2017

    • Author(s)
      Taku Senoo, Masanori Koike, Kenichi Murakami, Masatoshi Ishikawa
    • Journal Title

      IEEE Robotics and Automation Letters

      Volume: Vol.2 Pages: 209-216

    • DOI

      10.1109/lra.2016.2587806

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Analysis of sliding behavior of a biped robot in centroid acceleration space2016

    • Author(s)
      Taku Senoo, Masatoshi Ishikawa
    • Journal Title

      Robotica

      Volume: 印刷中 Issue: 3 Pages: 209-216

    • DOI

      10.1017/s0263574715000740

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed / Open Access
  • [Presentation] Robotic Physical Interaction Using Deformation Control Based on the Zener Model2018

    • Author(s)
      Taku Senoo, Kenichi Murakami, and Masatoshi Ishikawa
    • Organizer
      2018 IEEE/RSJ International Conference on Cyborg and Bionic Systems
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 高速アクティブビジョンを用いたマルチカメラトラッキングシステム2018

    • Author(s)
      田中敬, 妹尾拓, 石川正俊
    • Organizer
      第19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
      2018 Annual Research Report
  • [Presentation] Zenerモデルに基づくロボットアームの形状変形制御2018

    • Author(s)
      妹尾拓, 村上健一, 石川正俊
    • Organizer
      ロボティクス・メカトロニクス講演会2018
    • Related Report
      2018 Annual Research Report
  • [Presentation] Deformable Robot Behavior based on the Standard Linear Solid Model2017

    • Author(s)
      Taku Senoo, Kenichi Murakami and Masatoshi Ishikawa
    • Organizer
      IEEE Conference on Control Technology and Applications
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 二足走行における高速ビジュアルフィードバックを用いた姿勢安定化制御2017

    • Author(s)
      佐藤宏, 山川雄司, 妹尾拓, 石川正俊
    • 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
  • [Presentation] 高速多指ハンドによるボール転がりを用いたピッチング戦略2017

    • Author(s)
      妹尾拓, 田丸浩気, 村上健一, 石川正俊
    • Organizer
      第35回日本ロボット学会学術講演会
    • Related Report
      2017 Annual Research Report
  • [Presentation] 標準線形固体モデルを用いたマニピュレータの変形挙動生成2017

    • Author(s)
      妹尾拓, 村上健一, 石川正俊
    • Organizer
      ロボティクス・メカトロニクス講演会2017
    • Related Report
      2017 Annual Research Report
  • [Presentation] Plastic Deformation Control Based on Time-varying Impedance Adjustment2016

    • Author(s)
      Masanori Koike, Kenichi Murakami, Taku Senoo, Masatoshi Ishikawa
    • Organizer
      IEEE International Conference on Robotics and Biomimetics
    • Place of Presentation
      Qingdao, China
    • Year and Date
      2016-12-04
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Robotic Pitching by Rolling Ball on Fingers for a Randomly Located Target2016

    • Author(s)
      Taku Senoo, Yuuki Horiuchi, Yoshinobu Nakanishi, Kenichi Murakami, Masatoshi Ishikawa
    • Organizer
      IEEE International Conference on Robotics and Biomimetics
    • Place of Presentation
      Qingdao, China
    • Year and Date
      2016-12-04
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Deformation Control of a Multijoint Manipulator Based on Maxwell and Voigt Models2016

    • Author(s)
      Taku Senoo, Gaku Jinnai, Kenichi Murakami, Masatoshi Ishikawa
    • Organizer
      IEEE/RSJ International Conference on Intelligent Robots and Systems
    • Place of Presentation
      Daejeon, Korea
    • Year and Date
      2016-10-12
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 受動的緩衝動作における直列表現ベースの塑性変形制御2016

    • Author(s)
      妹尾拓, 小池正憲, 村上健一, 石川正俊
    • Organizer
      第34回日本ロボット学会学術講演会
    • Place of Presentation
      山形県山形市,山形大学
    • Year and Date
      2016-09-09
    • Related Report
      2016 Annual Research Report
  • [Presentation] 多関節ロボットアームの弾塑性変形制御2016

    • Author(s)
      妹尾拓, 陣内岳, 村上健一, 石川正俊
    • Organizer
      日本機械学会ロボティクスメカトロニクス部門講演会2016
    • Place of Presentation
      神奈川県横浜市,パシフィコ横浜
    • Year and Date
      2016-06-10
    • Related Report
      2016 Annual Research Report
  • [Book] ロボット制御学ハンドブック2017

    • Author(s)
      妹尾拓, 石川正俊
    • Total Pages
      5
    • Publisher
      近代科学社
    • ISBN
      9784764904736
    • Related Report
      2017 Annual Research Report
  • [Remarks] 石川妹尾研究室

    • URL

      http://www.k2.t.u-tokyo.ac.jp/index-j.html

    • Related Report
      2018 Annual Research Report 2017 Annual Research Report
  • [Remarks] 石川研究室ホームページ

    • URL

      http://www.k2.t.u-tokyo.ac.jp/index-j.html

    • Related Report
      2016 Annual Research Report

URL: 

Published: 2016-04-21   Modified: 2020-03-30  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi