| Budget Amount *help |
¥17,160,000 (Direct Cost: ¥13,200,000、Indirect Cost: ¥3,960,000)
Fiscal Year 2023: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
Fiscal Year 2022: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
Fiscal Year 2021: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2020: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2019: ¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
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| Outline of Final Research Achievements |
In this study, the omnidirectional mobile robotic system with vibration of flexible cilia has been developed. This omnidirectional mobile system is composed of multiple flexible materials for its cilia, body, and tilted horn. The mobile robot can generate 3D map information while moving inside of the narrow place such as complicated pipes by using sensors.
In particular, by limiting the number of motors inside of the mobile robot only one, the tiled horn can be rotated to control the angular momentum of the whole body of the robot while the horn can vibrate the flexible cilia to make the thrust of the robot.
This function can change the orientation angle of the robot not only back and forward but also left and right at a T-shaped branch in the pipe.
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