| Budget Amount *help |
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2020: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2019: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2018: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
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| Outline of Final Research Achievements |
In this research, it has been developed that autonomous control methods of sub-crawler angles of a mobile robot such as it always maintains a stable pose moving on discontinuous slopes when a robot and terrain one is given, assuming a correct position and orientation of the robot is available. In particular, the following two points are considered in this project: (A) maximization of contact surface areas of crawlers, and (B) existence of the zero-moment point (ZMP) in a support polygon of the robot. The methods are verified with numerical experiments.
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