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Object Carrying and Dynamic Manipulation Systems Applied with Locomotion Control Techniques of Underactuated Robots

Research Project

Project/Area Number 19K04255
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Review Section Basic Section 20010:Mechanics and mechatronics-related
Research InstitutionJapan Advanced Institute of Science and Technology

Principal Investigator

Asano Fumihiko  北陸先端科学技術大学院大学, 先端科学技術研究科, 准教授 (70415066)

Co-Investigator(Kenkyū-buntansha) 徳田 功  立命館大学, 理工学部, 教授 (00261389)
Project Period (FY) 2019-04-01 – 2022-03-31
Project Status Completed (Fiscal Year 2021)
Budget Amount *help
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2021: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2020: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2019: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Keywords物体搬送 / 動的操作 / 同期現象 / 軸回転摩擦 / 移動ロボット / 運動生成 / 劣駆動システム / 劣駆動系 / 高周波振動
Outline of Research at the Start

劣駆動ロボットの運動生成と移動制御に関する技術を効果的に応用することで、革新的な物体搬送・動的操作システムの設計開発に資する理論的基礎を構築する。主に匍匐型前進・後退運動をする移動ロボットとリミットサイクル歩行・ステルス歩行をする脚移動ロボットの二つを駆動源あるい搬送対象物体として考え、これらのロボットのために構築されてきた運動生成・制御理論を物体搬送・動的操作系の問題へと拡張・変換する。また、上記の研究を通して得られた新たな知見を、劣駆動移動ロボットの運動生成・制御技術へと還元する。

Outline of Final Research Achievements

The main research results on object transfer devices and dynamic operation systems driven by underactuated mobile robots are summarized below. First, we numerically and experimentally showed that the moving speed of a regular polygonal conveyed object can be controlled by moving a tilted stage actively or passively up and down, and numerically clarified that the fundamental periods of multiple conveyed objects with different shapes and sizes can be synchronized with each other at an integer ratio. Second, we proposed paper feeding systems that connect a part of the body of a crawling-like locomotion robot to the environment and use it as a driving source, and numerically showed that the robot’s forward propelling force generated by wobbling can be appropriately converted to the paper feeding operation force. Furthermore, we proposed a new robot model that can achieve more advanced dynamic operation.

Academic Significance and Societal Importance of the Research Achievements

本研究は、劣駆動移動ロボットを物体搬送装置・動的操作システムの駆動源として活用すべく、その数学的モデリングや運動生成・制御技術に関する手法を適切に書き換え、革新的な産業機械を創出することを目的としたものである。傾斜したステージを能動的または受動的に上下運動させることで、その上を移動する搬送物の移動速度制御や自動整列を実現できることを理論と実機実験の両面から示した。また、匍匐型移動ロボットの身体の一部を環境に固定することで給紙システムを実現し、前進のための推力を適切に給紙操作力へと変換できることを示した。これらの研究活動を通して、ロボットの運動制御技術の新しい応用分野の開拓に努めた。

Report

(4 results)
  • 2021 Annual Research Report   Final Research Report ( PDF )
  • 2020 Research-status Report
  • 2019 Research-status Report
  • Research Products

    (20 results)

All 2022 2021 2020 2019

All Presentation (20 results) (of which Int'l Joint Research: 13 results)

  • [Presentation] High-speed motion generation of crawling-like locomotion robot based on adjustment of amplitude and elastic coefficient in simple vibration of passive wobbling mass2022

    • Author(s)
      Fumihiko Asano and Shotaro Yamaguchi
    • Organizer
      The 5th International Symposium on Swarm Behavior and Bio-Inspired Robotics
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Motion analysis of two identical passive compass-like biped robots walking on vibrating and slippery downhill2022

    • Author(s)
      Fumihiko Asano
    • Organizer
      The 5th International Symposium on Swarm Behavior and Bio-Inspired Robotics
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Analysis of synchronization between active and passive bipedal walkers on tilted vibrating stage2022

    • Author(s)
      Runyu Liu, Cong Yan and Fumihiko Asano
    • Organizer
      The 5th International Symposium on Swarm Behavior and Bio-Inspired Robotics
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Basic experiment and data analysis of transportation of loupe-shaped object using shaft rotational friction2021

    • Author(s)
      Xindi Zhao, Cong Yan and Fumihiko Asano
    • Organizer
      The 4th International Symposium on Swarm Behavior and Bio-Inspired Robotics
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Passive motion analysis of two identical regular octagonal objects that move on passively vibrating tilted stage2021

    • Author(s)
      Fumihiko Asano, Longchuan Li and Isao Tokuda
    • Organizer
      The 24th issue of the International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Analysis of passive-dynamic motion on vibrating tilted stage of two regular polygonal objects of different sizes and shapes2021

    • Author(s)
      Fumihiko Asano, Isao Tokuda, Yuxuan Xiang, Cong Yan and Longchuan Li
    • Organizer
      The 20th International Conference on Advanced Robotics
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Motion generation of crawling-like locomotion robot composed of two identical units with passive wobbling mass and its extension to paper feeding2021

    • Author(s)
      Fumihiko Asano
    • Organizer
      The 20th International Conference on Advanced Robotics
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 振動的な下り斜面上の受動歩行とその安定化制御2021

    • Author(s)
      浅野文彦
    • Organizer
      第22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
      2021 Annual Research Report
  • [Presentation] 振動的かつ滑りやすい下り斜面上の受動歩行2021

    • Author(s)
      浅野文彦
    • Organizer
      第22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
      2021 Annual Research Report
  • [Presentation] 振動的な下り斜面上の2台のコンパス型2脚ロボットの受動歩行2021

    • Author(s)
      浅野文彦,河合瑞紀,李龍川,徳田功
    • Organizer
      第22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
      2021 Annual Research Report
  • [Presentation] Development of experimental paper-feeding system using crawling-like locomotion robot2020

    • Author(s)
      Lin Guo, Fumihiko Asano and Longchuan Li
    • Organizer
      International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines
    • Related Report
      2020 Research-status Report
    • Int'l Joint Research
  • [Presentation] Mathematical modeling and motion analysis of conveying object moving on rotating shafts2020

    • Author(s)
      Fumihiko Asano
    • Organizer
      International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines
    • Related Report
      2020 Research-status Report
    • Int'l Joint Research
  • [Presentation] Experimental verification of vibratory conveyor system based on frequency entrainment of limit cycle walker2020

    • Author(s)
      Kento Mitsuhashi, Masatsugu Nishihara and Fumihiko Asano
    • Organizer
      International Conference on Intelligent Robots and Systems
    • Related Report
      2020 Research-status Report
    • Int'l Joint Research
  • [Presentation] ルーペ形状をした物体の軸回転摩擦搬送に関する基礎実験2020

    • Author(s)
      趙新迪,顔聡,浅野文彦
    • Organizer
      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
      2020 Research-status Report
  • [Presentation] 匍匐型移動ロボットを用いた物体搬送システムの実機開発2020

    • Author(s)
      郭琳,李龍川,浅野文彦
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Related Report
      2020 Research-status Report
  • [Presentation] 軸回転摩擦搬送に関するモデリングおよび運動解析2020

    • Author(s)
      浅野文彦
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Related Report
      2020 Research-status Report
  • [Presentation] 引き込み現象を利用してリムレスホイールの劣駆動歩行を実現する外部揺動搬送機の開発2020

    • Author(s)
      三橋研人,西原正継,浅野文彦
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Related Report
      2020 Research-status Report
  • [Presentation] Conveyor manipulation system using high-speed crawling-like locomotion robot2019

    • Author(s)
      Lin Guo, Longchuan Li and Fumihiko Asano
    • Organizer
      SWARM2019: The 3rd International Symposium on Swarm Behavior and Bio-Inspired Robotics
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] A novel worm-like locomotion robot slides on slippery ground with asymmetric inner oscillation2019

    • Author(s)
      Longchuan Li, Fumihiko Asano and Isao Tokuda
    • Organizer
      SWARM2019: The 3rd International Symposium on Swarm Behavior and Bio-Inspired Robotics
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] A novel vibrating conveyor system based on principle of limit cycle walking2019

    • Author(s)
      Kento Mitsuhashi, Masatsugu Nishihara and Fumihiko Asano
    • Organizer
      SWARM2019: The 3rd International Symposium on Swarm Behavior and Bio-Inspired Robotics
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research

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Published: 2019-04-18   Modified: 2023-01-30  

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