| Budget Amount *help |
¥73,200,000 (Direct Cost: ¥73,200,000)
Fiscal Year 2009: ¥13,400,000 (Direct Cost: ¥13,400,000)
Fiscal Year 2008: ¥13,100,000 (Direct Cost: ¥13,100,000)
Fiscal Year 2007: ¥14,600,000 (Direct Cost: ¥14,600,000)
Fiscal Year 2006: ¥16,100,000 (Direct Cost: ¥16,100,000)
Fiscal Year 2005: ¥16,000,000 (Direct Cost: ¥16,000,000)
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| Research Abstract |
Focusing on locomotion, we realized adaptive locomotive control consisting of a rhythmic controller based on reflexes and CPG and a regulatory controller that modulates the interaction between the body and its environment. We suppose that muscular-skeletal structure of a biological system plays a crucial role for realizing such adaptive control. To support this supposition we realize three types of locomotive robots, biped, quadruped, and snake-like robots, out of muscular-skeletal structure, and conduct experiments.
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