| Budget Amount *help |
¥17,290,000 (Direct Cost: ¥13,300,000、Indirect Cost: ¥3,990,000)
Fiscal Year 2022: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Fiscal Year 2021: ¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2020: ¥3,380,000 (Direct Cost: ¥2,600,000、Indirect Cost: ¥780,000)
Fiscal Year 2019: ¥7,020,000 (Direct Cost: ¥5,400,000、Indirect Cost: ¥1,620,000)
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| Outline of Final Research Achievements |
The purpose of this study is to achieve the aerial/terrestrial hybrid locomotion and extensive manipulation ability by multi-legged aerial robot. We develop the proposed multi-legged aerial robot from three aspects: (1) fundamental mechanical design for the multi-legged model that an individual thrust unit is embedded in each link module; (2) integrated perception system that is based on distributed vision, force/torque, and imu sensors embedded in the whole body; (3) adaptive control method that actively considers the force from the interaction with the environment. In this study, we eventually achieved the aerial/terrestrial hybrid locomotion by a prototype of four legged model and the advanced aerial manipulation ability by multi-link models such as the valve operation in midair.
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