| Budget Amount *help |
¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
Fiscal Year 2010: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2009: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2008: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
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| Research Abstract |
A control method to always excite a multi-degree-of-freedom system efficiently at resonance frequency was developed. Self-excited vibration is generated at all the resonance frequencies by using a controller that has a phase lag of 90° and a constant gain in a wide frequency range. The validity of driving at resonance frequency by decentralized control was verified in the experiments of 4 and 8 degree-of-freedom vibration system, multipoint excitation of a large-sized structure, formation of gait of quadruped animals, and bipedal locomotion in the flat ground.
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