Practical development of higher speed locomotion of a biped robot with passive wheels
Project/Area Number |
20760172
|
Research Category |
Grant-in-Aid for Young Scientists (B)
|
Allocation Type | Single-year Grants |
Research Field |
Intelligent mechanics/Mechanical systems
|
Research Institution | Tohoku Gakuin University |
Principal Investigator |
KUMAGAI Masaaki Tohoku Gakuin University, 工学部, 准教授 (70323045)
|
Project Period (FY) |
2008 – 2010
|
Project Status |
Completed (Fiscal Year 2010)
|
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)
|
Keywords | 2脚歩行ロボット / 受動車輪移動 / ローラーウォーク / ローラースケート / RTミドルウエア / OpenRTM / OpenHRP3 / 受動車輪走行 / 曲率可変台車 / ACサーボモータ / ハーモニックドライブ / ベジェ曲線 / 超々ジュラルミン / 脚車輪ロボット |
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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Report
(5 results)
Research Products
(6 results)