| Project/Area Number |
22700207
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Osaka Electro-Communication University |
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Principal Investigator |
KOEDA Masanao 大阪電気通信大学, 総合情報学部, 准教授 (10411232)
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| Project Period (FY) |
2010 – 2011
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| Project Status |
Completed (Fiscal Year 2011)
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| Budget Amount *help |
¥3,250,000 (Direct Cost: ¥2,500,000、Indirect Cost: ¥750,000)
Fiscal Year 2011: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2010: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
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| Keywords | ヒューマノイドロボット / 摺足 / 滑り / ZMP |
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| Research Abstract |
In this research, we developed shuffle turning and translating method for a humanoid robot, which can perform a stepless and stable motion. Thismotionis suitable for short-range movement with high stability and low energy consumption, and it is useful in a narrow space ora constrained posture, whichoccursin our everyday activities. To realize precise shuffle motion fora real humanoid robot, we designed a PI feedback controllerand conducted some experiments. Theexperimentalresults showedthat our method was effective for precise and stable shuffling motion.
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