| Budget Amount *help |
¥25,220,000 (Direct Cost: ¥19,400,000、Indirect Cost: ¥5,820,000)
Fiscal Year 2012: ¥8,580,000 (Direct Cost: ¥6,600,000、Indirect Cost: ¥1,980,000)
Fiscal Year 2011: ¥8,320,000 (Direct Cost: ¥6,400,000、Indirect Cost: ¥1,920,000)
Fiscal Year 2010: ¥8,320,000 (Direct Cost: ¥6,400,000、Indirect Cost: ¥1,920,000)
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| Research Abstract |
A framework to understand the mathematical principle of the human motor control as a dynamics-morphingsystem comprising the body, the environment and the controller was proposed. It is based on a control technique for humanoid robots to articulate the whole body under complex constraints, keep the stability and achieve a variety of motions. It was found that the controller which was developed for a humanoid robot in order to unify standing, stepping and walking nicely models that of a human through motion measurements and identifications of control parameters.
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