| Budget Amount *help |
¥17,290,000 (Direct Cost: ¥13,300,000、Indirect Cost: ¥3,990,000)
Fiscal Year 2020: ¥5,850,000 (Direct Cost: ¥4,500,000、Indirect Cost: ¥1,350,000)
Fiscal Year 2019: ¥5,850,000 (Direct Cost: ¥4,500,000、Indirect Cost: ¥1,350,000)
Fiscal Year 2018: ¥5,590,000 (Direct Cost: ¥4,300,000、Indirect Cost: ¥1,290,000)
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| Outline of Final Research Achievements |
We developed a framework to describe the whole-body motion based on a continually morphing hierarchical dynamical system in which the upper system for the reduced-order dynamics of the center of mass and the lower system for the extremities are combined, and also a control system of a humanoid robot based on the framework. Missions included a discussion of the mathematical background that enables the hierarchical representation, design of the lower dynamical systems, design of a control architecture that effectively combines the upper and lower systems, and development of a humanoid robot platform.
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