| Project/Area Number |
22560245
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | University of Yamanashi |
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Principal Investigator |
FURUYA Nobuyuki 山梨大学, 医学工学総合研究部, 教授 (50126653)
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| Co-Investigator(Kenkyū-buntansha) |
ITO Akihito 山梨大学, 大学院・医学工学総合研究部, 助教 (60516946)
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| Project Period (FY) |
2010 – 2012
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| Project Status |
Completed (Fiscal Year 2012)
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| Budget Amount *help |
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2012: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2011: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2010: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
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| Keywords | 受動歩行 / 歩行ロボット / ロボット / 二足歩行 / ZMP理論 / 足形状 |
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| Research Abstract |
In engineering application, it is necessary to improve the energy efficiency of biped robot. Therefore, in this study, we aimed to develop a biped robot to achieve the passive walking with the heel and the toes that simulates the human foot shape. The effectiveness of the passive walking machine with the proposed foot shape is shown by simulation and the experimental results by the real machine. And, by using multibody dynamics software, we constructed control system of quasi passive walking and verified its effectiveness.
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