Humanoid locomotion by grasping the environment based on muscle-bone integrated flexible hand-arm system and contact estimation using muscle haptics
Project/Area Number |
16H06723
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Research Category |
Grant-in-Aid for Research Activity Start-up
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Allocation Type | Single-year Grants |
Research Field |
Intelligent mechanics/Mechanical systems
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Research Institution | The University of Tokyo |
Principal Investigator |
Asano Yuki 東京大学, 大学院情報理工学系研究科, 助教 (40783080)
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Project Period (FY) |
2016-08-26 – 2018-03-31
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Project Status |
Completed (Fiscal Year 2017)
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Budget Amount *help |
¥2,990,000 (Direct Cost: ¥2,300,000、Indirect Cost: ¥690,000)
Fiscal Year 2017: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2016: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
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Keywords | 筋骨格ヒューマノイド / 腱駆動 / 人体模倣 / 五指ハンド / 橈骨尺骨構造 / 筋骨一体構造 / 環境掌握 / 筋張力制御 / 腱駆動構造 / 人体模倣構造 / 環境接触 / 柔軟五指ハンド / 自己身体負荷保持 / 柔軟関節 / 知能ロボティックス / 知能機械 |
Outline of Final Research Achievements |
The purpose of this research was to achieve humanoid locomotion by retaining its balance using its hands to grasp the environment. To achieve the purpose, a hand-arm system which can grasp the environment strongly and hold its weight is required. We got inspiration from human hand-arm structure and developed human-mimetic hand-arm system whose design was made as not independent but integrated structure. Five-fingered hand is composed of flexible machining spring joints and suitable for environmental contact. Forearm is composed of compact muscle actuator modules based on muscle-bone integrated structure and equipped with both compact and high actuation performance. By achieving dangling motion of musculoskeletal humanoid Kengoro which is equipped with the developed hand-arm structure, we confirm that the developed structure is effective for humanoid motion with involving environment grasp.
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Report
(3 results)
Research Products
(18 results)
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[Presentation] 擬似球関節モジュールにより冗長な非線形弾性要素を制御可能な筋骨格ヒューマノイドの上肢設計2018
Author(s)
河原塚健人, 牧野将吾, 陳相羽, 藤井綺香, 川村将矢, 真壁佑, 鬼塚盛宇, 浅野悠紀, 岡田慧, 川崎宏治, 稲葉雅幸
Organizer
日本機械学会ロボティクス・メカトロニクス講演会'18
Related Report
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[Presentation] Human Mimetic Musculoskeletal Humanoid Kengoro toward Real World Physically Interactive Actions2016
Author(s)
Yuki Asano, Toyotaka Kozuki, Soichi Ookubo, Masaya Kawamura, Shinsuke Nakashima, Takeshi Katayama, Iori Yanokura, Toshinori Hirose, Kento Kawaharazuka, Shogo Makino, Youhei Kakiuchi, Kei Okada, Masayuki Inaba
Organizer
The 2016 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016)
Place of Presentation
Cancun, Mexico
Year and Date
2016-11-15
Related Report
Int'l Joint Research
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