| Budget Amount *help |
¥23,920,000 (Direct Cost: ¥18,400,000、Indirect Cost: ¥5,520,000)
Fiscal Year 2020: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
Fiscal Year 2019: ¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2018: ¥8,320,000 (Direct Cost: ¥6,400,000、Indirect Cost: ¥1,920,000)
Fiscal Year 2017: ¥8,710,000 (Direct Cost: ¥6,700,000、Indirect Cost: ¥2,010,000)
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| Outline of Final Research Achievements |
The split spherical shell shaped robotic mechanism that we developed on in this research enables itself to access the outside environment and continue working with not only sensors but also arm, hand, and so on which contact directly to objects. In the entire actual robotic prototype, we expand the basic concept of this split spherical shell into the spherical shell rotor system that covers each rotor (propulsion units) by further expanding the number of spherical shells from the conventional method of covering one moving body. As the first prototype, we realized a 4-unit spherical shell rotor mechanism configuration as an actual machine. In the process, the weight of the spherical shell itself may increase, and the presence of the spherical shell itself may cause resistance and decrease in propulsive force, but the spherical shell rotor structure is constructed within a range smaller than the propulsive force.
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