| 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 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | The University of Tokyo |
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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 |
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| 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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