| Budget Amount *help |
¥3,860,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥660,000)
Fiscal Year 2009: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2008: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2007: ¥1,000,000 (Direct Cost: ¥1,000,000)
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| Research Abstract |
In this research, modeling technique for dynamic variable structure system such as the flapping motion of a bird was developed. The mathematical model of the flapping motion was identified by using the technique and the controller was designed based on the identified model. Finally, the proto-type flapping robot was developed and the flight experiment was performed. The validity of the identified model and designed controller were demonstrated.
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