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Locomotion Mechanism Driven by the Body Deformation

Research Project

Project/Area Number 21760210
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeSingle-year Grants
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionKinki University (2011)
Ritsumeikan University (2009-2010)

Principal Investigator

SHIBATA Mizuho  近畿大学, 工学部, 講師 (70454519)

Project Period (FY) 2009 – 2011
Project Status Completed (Fiscal Year 2011)
Budget Amount *help
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2011: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2010: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2009: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Keywordsロボティクス / 知能ロボティクス / 知能機械
Research Abstract

I proposed a tensegrity locomotion robot driven by shape memory alloy or pneumaticactuators in order to investigate how locomotionrobots apply the body deformation. I realized a successiverolling motion of a regular icosahedral tensegrity structure utilizing the body deformation. I also described the movement strategies using a notation method based on knowledgeof crystallography.

Report

(4 results)
  • 2011 Annual Research Report   Final Research Report ( PDF )
  • 2010 Annual Research Report
  • 2009 Annual Research Report
  • Research Products

    (17 results)

All 2012 2011 2010 2009 Other

All Presentation (15 results) Remarks (2 results)

  • [Presentation] マッキベンアクチュエータにより駆動されるテンセグリティロボットの実験的評価2012

    • Author(s)
      小泉佑介, 柴田瑞穂, 平井慎一
    • Organizer
      第17回ロボティクス・シンポジア
    • Place of Presentation
      山口県萩本陣
    • Year and Date
      2012-03-15
    • Related Report
      2011 Final Research Report
  • [Presentation] マッキペンアクチュエータにより駆動されるテンセグリティロボットの実験的評価2012

    • Author(s)
      平井慎一
    • Organizer
      第17回ロボティクス・シンポジア
    • Place of Presentation
      萩本陣(山口県萩市)
    • Year and Date
      2012-03-15
    • Related Report
      2011 Annual Research Report
  • [Presentation] Rolling Tensegrity Driven by Pneumatic Soft Actuators2012

    • Author(s)
      Yuusuke Koizumi, Mizuho Shibata, and Shinichi Hirai
    • Organizer
      IEEE InternationalConferenceon Robotics and Automation2012
    • Related Report
      2011 Final Research Report
  • [Presentation] テンセグリティロボットの連続転がりの評価2011

    • Author(s)
      小泉佑介, 柴田瑞穂, 平井慎一
    • Organizer
      第29回日本ロボット学会学術講演会
    • Place of Presentation
      東京都芝浦工業大学
    • Year and Date
      2011-09-08
    • Related Report
      2011 Final Research Report
  • [Presentation] テンセグリティロボットの連続転がりの評価2011

    • Author(s)
      小泉佑介
    • Organizer
      第29回日本ロボット学会学術講演会
    • Place of Presentation
      芝浦工業大学(東京都江東区)
    • Year and Date
      2011-09-08
    • Related Report
      2011 Annual Research Report
  • [Presentation] Moving Strategy of Tensegrity Robots with Semiregular Polyhedral Body2010

    • Author(s)
      Mizuho Shibataand Shinichi Hirai
    • Organizer
      International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines 2010
    • Place of Presentation
      JAPAN, Nagoya Institute of Technology
    • Year and Date
      2010-08-31
    • Related Report
      2011 Final Research Report
  • [Presentation] Moving Strategy of Tensegrity Robots with Semiregular Polyhedral Body2010

    • Author(s)
      Mizuho Shibata
    • Organizer
      International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines 2010
    • Place of Presentation
      名古屋工業大学・愛知県
    • Year and Date
      2010-08-31
    • Related Report
      2010 Annual Research Report
  • [Presentation] 多面体移動ロボットの接地状態判定2009

    • Author(s)
      柴田瑞穂, 寺師和真, 仲瀬洸男, 平井慎一
    • Organizer
      計測自動制御学会システムインテグレーション部門講演会2009
    • Place of Presentation
      東京都,芝浦工業大学
    • Year and Date
      2009-12-26
    • Related Report
      2011 Final Research Report
  • [Presentation] 多面体移動ロボットの接地状態判定2009

    • Author(s)
      柴田瑞穂, 寺師和真, 仲瀬洗男, 平井慎一
    • Organizer
      計測自動制御学会システムインテグレーション部門講演会2009
    • Place of Presentation
      東京都, 芝浦工業大学
    • Year and Date
      2009-12-26
    • Related Report
      2009 Annual Research Report
  • [Presentation] テンセグリティ型多面体ロボットの転がり移動2009

    • Author(s)
      柴田瑞穂, 寺師和真, 仲瀬洸男, 平井慎一
    • Organizer
      第27回日本ロボット学会学術講演会
    • Place of Presentation
      神奈川県,横浜国立大学
    • Year and Date
      2009-09-16
    • Related Report
      2011 Final Research Report
  • [Presentation] テンセグリティ型多面体ロボットの転がり移動2009

    • Author(s)
      柴田瑞穂, 寺師和真, 仲瀬洸男, 平井慎一
    • Organizer
      第27回日本ロボット学会学術講演会
    • Place of Presentation
      神奈川県, 横浜国立大学
    • Year and Date
      2009-09-16
    • Related Report
      2009 Annual Research Report
  • [Presentation] Rolling Locomotion of Deformable Tensegrity Structure2009

    • Author(s)
      Mizuho Shibataand Shinichi Hirai
    • Organizer
      International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines 2009
    • Place of Presentation
      トルコ,イスタンブール
    • Year and Date
      2009-09-10
    • Related Report
      2011 Final Research Report
  • [Presentation] Rolling Locomotion of Deformable Tensegrity Structure2009

    • Author(s)
      柴田瑞穂, 平井慎一
    • Organizer
      International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines 2009
    • Place of Presentation
      トルコ, イスタンブール
    • Year and Date
      2009-09-10
    • Related Report
      2009 Annual Research Report
  • [Presentation] Crawling by Body Deformation of Tensegrity Structure Robots2009

    • Author(s)
      Mizuho Shibata, Fumio Saijyo, Shinichi Hirai
    • Organizer
      IEEE International Conferenceon Robotics and Automation 2009
    • Place of Presentation
      兵庫県,神戸国際会議場
    • Year and Date
      2009-05-16
    • Related Report
      2011 Final Research Report
  • [Presentation] Crawling by Body Deformation of Tensegrity Structure Robots2009

    • Author(s)
      Mizuho Shibata, Fumio Saijyo, Shinichi Hirai
    • Organizer
      IEEE International Conference on Robotics and Automation 2009
    • Place of Presentation
      兵庫県, 神戸国際会議場
    • Year and Date
      2009-05-16
    • Related Report
      2009 Annual Research Report
  • [Remarks]

    • URL

      http://greenapple.world.coocan.jp/school/work/tense/index-j.html

    • Related Report
      2011 Final Research Report
  • [Remarks]

    • URL

      http://greenhand.web.infoseek.co.jp/school/work/tense/index-j.html

    • Related Report
      2009 Annual Research Report

URL: 

Published: 2009-04-01   Modified: 2016-04-21  

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