| Budget Amount *help |
¥17,420,000 (Direct Cost: ¥13,400,000、Indirect Cost: ¥4,020,000)
Fiscal Year 2020: ¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
Fiscal Year 2019: ¥6,110,000 (Direct Cost: ¥4,700,000、Indirect Cost: ¥1,410,000)
Fiscal Year 2018: ¥7,670,000 (Direct Cost: ¥5,900,000、Indirect Cost: ¥1,770,000)
|
|---|
| Outline of Final Research Achievements |
This project proposed and developed a mechanism for legged robot, its consist 11 links. It has two inputs, and the input has the feature that it can rotate infinitely. In addition, the toe trajectory can be adjusted by the phase difference between these two inputs. The total length of the developed robot is 1.0 m, and the mass including the battery is 17.9 kg. Its leg has 3 degrees of freedom, 2 of which are the proposed mechanisms, and the remaining 1 degree of freedom is the axis of rotation in the roll direction. There are 12 degrees of freedom. In addition, walking at a speed of 1.0 m / s was realized.
|
