Establishment of the theory of Snake-Like Robots and Development of Practical Inspection Robots for Cramped Sites
| Project/Area Number |
22246032
|
|---|
| Research Category |
Grant-in-Aid for Scientific Research (A)
|
| Allocation Type | Single-year Grants |
|---|
| Section | 一般 |
|---|
| Research Field |
Intelligent mechanics/Mechanical systems
|
|---|
| Research Institution | Tokyo Institute of Technology |
|---|
Principal Investigator |
HIROSE Shigeo 東京工業大学, 大学院・理工学研究科, 卓越教授 (70108215)
|
|---|
| Co-Investigator(Kenkyū-buntansha) |
YAMADA Hiroya 東京工業大学, グローバルエッジ研究院, テニアトラック助教 (20550536)
|
|---|
| Project Period (FY) |
2010 – 2012
|
| Project Status |
Completed (Fiscal Year 2012)
|
| Budget Amount *help |
¥42,510,000 (Direct Cost: ¥32,700,000、Indirect Cost: ¥9,810,000)
Fiscal Year 2012: ¥13,000,000 (Direct Cost: ¥10,000,000、Indirect Cost: ¥3,000,000)
Fiscal Year 2011: ¥13,000,000 (Direct Cost: ¥10,000,000、Indirect Cost: ¥3,000,000)
Fiscal Year 2010: ¥16,510,000 (Direct Cost: ¥12,700,000、Indirect Cost: ¥3,810,000)
|
|---|
| Keywords | ロボティクス / ヘビ型ロボット / 水陸両用ロボット / 環境適応 / 索状能動体 / 配管検査 / レスキューロボット / 多関節機構 / 蛇行推進 |
|---|
| Research Abstract |
We conducted the research on snake-like robots toward the following goals: (1) establishment of theory on control, (2) invention of novel mechanisms and (3) development of practical robots for narrow space investigations. As a result of our study, we built up a practical control system based on continuous curve model, and successfully developed practical snake-like robots by introducing innovative mechanisms.
|
Report
(4 results)
Research Products
(39 results)
