| Budget Amount *help |
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2010: ¥390,000 (Direct Cost: ¥300,000、Indirect Cost: ¥90,000)
Fiscal Year 2009: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2008: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
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| Research Abstract |
This work confirmed a method called "Roller walk" for biped robot. The robot only requires passive wheels on its each foot with a special axel mechanism, and a periodic motion of both legs generates propulsive force on the wheel. Hence, no additional motor and controller is required for wheeled mobility enabling higher-speed locomotion. For this work a new biped robot with human-size leg was developed.
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