| Budget Amount *help |
¥12,090,000 (Direct Cost: ¥9,300,000、Indirect Cost: ¥2,790,000)
Fiscal Year 2010: ¥3,380,000 (Direct Cost: ¥2,600,000、Indirect Cost: ¥780,000)
Fiscal Year 2009: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
Fiscal Year 2008: ¥5,980,000 (Direct Cost: ¥4,600,000、Indirect Cost: ¥1,380,000)
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| Research Abstract |
A contribution of this research is in the field of robot walking methodology by proposing a new type of actuator for robotic legs. The actuator does not use gear reducer or other classical methods, but transmits torque from the motor to the joint by using contraction of a pair of twisted strings. Control methods to realize passive dynamic walking were studied, and a method by using trajectory in a phase-plane was proposed. Walking stability was improved by using genetic algorithm. Good results in simulation were obtained and experimental setup was built.
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