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Autonomous Gait Principe for a Free-Climbing Robot with Mechanical Anisotropy and Uncertainty

Research Project

Project/Area Number 18K13721
Research Category

Grant-in-Aid for Early-Career Scientists

Allocation TypeMulti-year Fund
Review Section Basic Section 20020:Robotics and intelligent system-related
Research InstitutionKyushu Institute of Technology (2019)
Tohoku University (2018)

Principal Investigator

Nagaoka Kenji  九州工業大学, 大学院工学研究院, 准教授 (60612520)

Project Period (FY) 2018-04-01 – 2020-03-31
Project Status Completed (Fiscal Year 2019)
Budget Amount *help
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2019: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
Fiscal Year 2018: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
Keywordsフリークライミング / 鉤爪グリッパ / 把持力 / 自律歩容原理 / 断崖絶壁クライミング / 惑星探査ロボット / 把持力の力学的異方性 / フリークライミングロボティクス / 極限探査ロボット / 自律歩容
Outline of Final Research Achievements

This research project has addressed development of a gait control law for a four-limbed free-climbing robot in extreme terrain, such as a cliff wall. This project contributes to development of gripping mechanics of the spine-typed gripper, including its mechanical anisotropy. Moreover, based on the gripping mechanics, a method of which the grippable region is detected by a ranging sensor was proposed and validated by experiments. With these data as feedback information to the control law, the intelligent gait control law was established to satisfy multiple evaluation indexes: distance from the destination, motion stability, the grippable region, and reachable range of the gripper. The developed control method was evaluated by several experiments and numerical simulation, and the results confirmed the validity of the proposed method.

Academic Significance and Societal Importance of the Research Achievements

本研究で扱うフリークライミングロボティクスは,グリッパ(ロボットハンド)の力学的異方性を内包した歩容原理を扱う点で,従来の理想条件下での脚歩行ロボットの研究を包括する.したがって,より一般化した多脚歩容の力学体系を切り開く研究領域といえる.さらに,本研究により実問題を想定した新しい自律歩容制御則を構築することで,これまで無人の探査ロボットがアクセスできなかった過酷な自然の極限環境(特に,急峻な崖や洞窟,渓谷など)でのロボット技術の応用を可能とすることが期待できる.

Report

(3 results)
  • 2019 Annual Research Report   Final Research Report ( PDF )
  • 2018 Research-status Report
  • Research Products

    (9 results)

All 2020 2019 2018

All Journal Article (1 results) (of which Peer Reviewed: 1 results) Presentation (8 results) (of which Int'l Joint Research: 4 results)

  • [Journal Article] Passive Spine Gripper for Free-Climbing Robot in Extreme Terrain2018

    • Author(s)
      Kenji Nagaoka, Hayato Minote, Kyohei Maruya, Yuki Shirai, Kazuya Yoshida, Takeshi Hakamada, Hirotaka Sawada, and Takashi Kubota
    • Journal Title

      IEEE Robotics and Automation Letters

      Volume: 3 Issue: 3 Pages: 1765-1770

    • DOI

      10.1109/lra.2018.2794517

    • Related Report
      2018 Research-status Report
    • Peer Reviewed
  • [Presentation] 凹凸地形における鉤爪型ロボットグリッパ―のなぞり把持の提案2020

    • Author(s)
      川口大輝, 永岡健司
    • Organizer
      ロボティクス・メカトロニクス講演会2020
    • Related Report
      2019 Annual Research Report
  • [Presentation] フリークライミングロボットのための地形とグリッパの幾何学形状にもとづく把持候補点検出手法2020

    • Author(s)
      羽地啓悟, 宇野健太朗, 永岡健司, 吉田和哉
    • Organizer
      ロボティクス・メカトロニクス講演会2020
    • Related Report
      2019 Annual Research Report
  • [Presentation] Analysis of Motion Control for a Quadruped Ground-Gripping Robot for Minor Body Exploration2019

    • Author(s)
      Warley F. R. Ribeiro, Kentaro Uno, Kenji Nagaoka, Kazuya Yoshida
    • Organizer
      The 32nd International Symposium on Space Technology and Science
    • Related Report
      2019 Annual Research Report 2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] Gait Planning for a Free-Climbing Robot based on Tumble Stability2019

    • Author(s)
      Kentaro Uno, Warley F. R. Ribeiro, William Jones, Yuki Shirai, Hayato Minote, Kenji Nagaoka, Kazuya Yoshida
    • Organizer
      The 2019 IEEE/SICE International Symposium on System Integration
    • Related Report
      2019 Annual Research Report 2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] Gait Analysis of a Free-Climbing Robot on Sloped Terrain for Lunar and Planetary Exploration2018

    • Author(s)
      Yuki Shirai, Hayato Minote, Kenji Nagaoka, Kazuya Yoshida
    • Organizer
      The 14th International Symposium on Artificial Intelligence, Robotics and Automation in Space
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] フリークライミングロボットのための歩容計画法の提案2018

    • Author(s)
      宇野健太郎, Warley F. R. Ribeiro, 白井有樹, 永岡健司, 吉田和哉
    • Organizer
      第19回計測自動制御学会システムインテグレーション部門講演会
    • Related Report
      2018 Research-status Report
  • [Presentation] 崖降り・崖登り探査のための脚型ロボットの研究開発2018

    • Author(s)
      吉田和哉, 永岡健司, 宇野健太朗, 白井有樹, William Jones
    • Organizer
      第62回宇宙科学技術連合講演会
    • Related Report
      2018 Research-status Report
  • [Presentation] Passive Spine Gripper for Free-Climbing Robot in Extreme Terrain2018

    • Author(s)
      Kenji Nagaoka, Hayato Minote, Kyohei Maruya, Yuki Shirai, Kazuya Yoshida, Takeshi Hakamada, Hirotaka Sawada, and Takashi Kubota
    • Organizer
      The 2018 IEEE International Conference on Robotics and Automation
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research

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Published: 2018-04-23   Modified: 2021-02-19  

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