| Budget Amount *help |
¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2012: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2011: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2010: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
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| Research Abstract |
To establish a design methodology of mechanical and control systems for undulatory locomotors based on dynamics, a new design scheme has been proposed. Dynamical equations of the locomotors in the design scheme are first derived and performance indexes such as energy efficiency, stability and propulsion force are secondly formulated. The indexes are reflected in the design of mechanisms and control methods of the locomotors in dynamical simulators. A new undulatory locomotor designed based on dynamics referred to as a "four-forked steering walker" has been developed, and the validity of the design scheme has been verified experimentally.
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