| Co-Investigator(Kenkyū-buntansha) |
OKADA Kei 東京大学, 大学院情報理工学系研究科, 准教授 (70359652)
YOSHIKAI Tomoaki 東京大学, 大学院情報理工学系研究科, 特任講師 (60436558)
NAKANISHI Yuto 東京大学, 大学院情報理工学系研究科, 技術補佐員 (50559458)
URATA Junichi 東京大学, 大学院情報理工学系研究科, 技術補佐員 (10625479)
KAKIUCHI Yohei 東京大学, 大学院情報理工学系研究科, 特任助教 (70501328)
NOZAWA Shunichi 東京大学, 大学院情報理工学系研究科, 助教 (80707620)
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| Budget Amount *help |
¥245,960,000 (Direct Cost: ¥189,200,000、Indirect Cost: ¥56,760,000)
Fiscal Year 2013: ¥37,960,000 (Direct Cost: ¥29,200,000、Indirect Cost: ¥8,760,000)
Fiscal Year 2012: ¥52,780,000 (Direct Cost: ¥40,600,000、Indirect Cost: ¥12,180,000)
Fiscal Year 2011: ¥48,230,000 (Direct Cost: ¥37,100,000、Indirect Cost: ¥11,130,000)
Fiscal Year 2010: ¥48,100,000 (Direct Cost: ¥37,000,000、Indirect Cost: ¥11,100,000)
Fiscal Year 2009: ¥58,890,000 (Direct Cost: ¥45,300,000、Indirect Cost: ¥13,590,000)
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| Research Abstract |
In this research, we reveal design methodology of humanoid robot which can contact with human and have attention inductivity for human interaction. This design methodology based on hybrid type of conventional joint-driven humanoids and musculoskeletal tendon-driven ones. From hardware point of view, variable stiffness joint, whole-body flesh, energy-absorbing cover, and hardware level reaction during power failure or emergency stop were investigated and validated with real robots. From software point of view, accumulation of task knowledge by paying attention to environment and human, reaction of robot when interrupted by human were investigated and validated with an actual robot system.
These results provide important basis of both hardware and software for daily assistive humanoids which can assist human and learn from human in daily environment.
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