| Budget Amount *help |
¥14,950,000 (Direct Cost: ¥11,500,000、Indirect Cost: ¥3,450,000)
Fiscal Year 2010: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2009: ¥6,890,000 (Direct Cost: ¥5,300,000、Indirect Cost: ¥1,590,000)
Fiscal Year 2008: ¥3,510,000 (Direct Cost: ¥2,700,000、Indirect Cost: ¥810,000)
Fiscal Year 2007: ¥2,990,000 (Direct Cost: ¥2,300,000、Indirect Cost: ¥690,000)
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| Research Abstract |
In this study, we first designed and made a monopod robot. Since this robot is 3 DOF and serial link robot, there is a redundancy in the flying phase. We synthesized output zeroing control which regulates the error between desired velocity of center of gravity and real velocity. By numerical simulation we demonstrate the usefulness of this control law. In order to apply this control law we developed the control system of the monopod robot. This 3DOF monopod robot is 45cm height and has servo amp on the torso. Total weight is 10.8Kg. Signal processing of this experimental system is carried out by DSP with 100μs (100kHz) sampling. In order to overcome the underactuated and nonholonomic control problems, we developed the passive velocity field control. Finally we attained 4 cm height jumping of the monopod robot.
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