| Project/Area Number |
21860007
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| Research Category |
Grant-in-Aid for Research Activity Start-up
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| Allocation Type | Single-year Grants |
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| Research Field |
Control engineering
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| Research Institution | Tohoku University |
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Principal Investigator |
OWAKI Dai Tohoku University, 大学院・工学研究科, 助教 (40551908)
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| Project Period (FY) |
2009 – 2010
|
| Project Status |
Completed (Fiscal Year 2010)
|
| Budget Amount *help |
¥2,587,000 (Direct Cost: ¥1,990,000、Indirect Cost: ¥597,000)
Fiscal Year 2010: ¥1,274,000 (Direct Cost: ¥980,000、Indirect Cost: ¥294,000)
Fiscal Year 2009: ¥1,313,000 (Direct Cost: ¥1,010,000、Indirect Cost: ¥303,000)
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| Keywords | 歩行・走行 / ロボット / 制御工学 / フィードバック構造 / 陰的制御則 |
|---|
| Research Abstract |
This study aims to propose a novel control law for a bipedal walking and running robot and develop the robots with the proposed control law for the engineering design, by focusing "Multi-timescale integration for spatiotemporal pattern generation". As a result, we have clarified the mechanism of multi-timescale integration, achieved a real-world passive bipedal running, and proposed a design methodology that well fits with the self-stabilization mechanism underlying passive dynamic running.
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