| Project/Area Number |
16K12501
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| Research Category |
Grant-in-Aid for Challenging Exploratory Research
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent robotics
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| Research Institution | Osaka University |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
黒田 嘉宏 大阪大学, 基礎工学研究科, 准教授 (30402837)
新井 健生 電気通信大学, その他部局等, 客員教授 (90301275)
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| Co-Investigator(Renkei-kenkyūsha) |
Arai Tatsuo 電気通信大学, その他部局等, 客員教授 (90301275)
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| Project Period (FY) |
2016-04-01 – 2018-03-31
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| Project Status |
Completed (Fiscal Year 2017)
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| Budget Amount *help |
¥3,380,000 (Direct Cost: ¥2,600,000、Indirect Cost: ¥780,000)
Fiscal Year 2017: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2016: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
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| Keywords | hybrid robot / robot control / motion planning / flying robot / walking robot / teleoperation / slam / user interface / adaptive viewpoint / adaptive view / vibration control / 3D omni motion / anti gravity motion |
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| Outline of Final Research Achievements |
We have developed a flying and walking hybrid robot prototype and implemented 3D flying motion based on adaptive control. The flight and stability performance of the proposed hybrid robot and a typical drone was verified by simulation. Furthermore, we have developed anti-gravity motion based on the permanent magnet at the end effector of the robot leg. We verified that by applying vibration at the contact point between an end effector and the steel surface, the attractive forces can be reduced significantly. Finally, we have developed a new Virtual Reality interface that adaptively searches for the viewpoint of an open space and also warn the user when a robot will hit the obstacle.
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