Locomotion Mechanism Driven by the Body Deformation

• Project/Area Number: 21760210
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Kinki 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: ¥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.

Research Products

• [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
• [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
• [Presentation] Rolling Tensegrity Driven by Pneumatic Soft Actuators (2012)
  • Author(s): Yuusuke Koizumi, Mizuho Shibata, and Shinichi Hirai
  • Organizer: IEEE InternationalConferenceon Robotics and Automation2012
• [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
• [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
• [Presentation] Moving Strategy of Tensegrity Robots with Semiregular Polyhedral Body (2010)
  • 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
• [Presentation] Moving Strategy of Tensegrity Robots with Semiregular Polyhedral Body (2010)
  • 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
• [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
• [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
• [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
• [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
• [Presentation] Rolling Locomotion of Deformable Tensegrity Structure (2009)
  • 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
• [Presentation] Rolling Locomotion of Deformable Tensegrity Structure (2009)
  • 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
• [Presentation] Crawling by Body Deformation of Tensegrity Structure Robots (2009)
  • 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
• [Presentation] Crawling by Body Deformation of Tensegrity Structure Robots (2009)
  • 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
• [Remarks]
  • URL: http://greenapple.world.coocan.jp/school/work/tense/index-j.html
• [Remarks]
  • URL: http://greenhand.web.infoseek.co.jp/school/work/tense/index-j.html