| Budget Amount *help |
¥3,120,000 (Direct Cost: ¥2,400,000、Indirect Cost: ¥720,000)
Fiscal Year 2011: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2010: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2009: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
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| Research Abstract |
Leg/wheel mobile robots, equipped with articulated legs which allow dynamic allocation of their wheel positions, are adaptable to the cluttered environments with its high mobility and stability. In this research, a real-time simultaneous model predictive locomotion and wheel allocation method is developed, which can be implemented into low speed embedded CPUs by the usage of the improved computation algorithm and index function. The proposed method is applied to a leg/wheel mobile robot with 3DOF SCARA legs to verify its enhanced performance.
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