| Budget Amount *help |
¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2011: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2010: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2009: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
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| Research Abstract |
A working six-legged robot which can switch three modes is developed. Three modes enhance mobility and working ability of the robot. The following functions are implemented and tested. In six-leg mode, omni-directional walking with six legs, obstacle avoidance with ultrasonic sensors, climbing up/down steps and climbing up steep slope. In horizontal four-leg two-arm mode where two front legs are used as arms with the body horizontal to the ground, omni-directional walking with four legs and low-level manipulation with two arms. In vertical four-leg two arm mode where two upper legs are used as arms with the body vertical to the ground, walking upright with four legs, high-level manipulation with two arms and large object pushing.
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