| Budget Amount *help |
¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
Fiscal Year 2012: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2011: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
Fiscal Year 2010: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
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| Research Abstract |
The purpose of this research is to realize a centipede-like multi-legged robot which can explore in complex irregular terrains. In order to realize the purpose, we developed a methodology capable of designing both control parameters of decentralized event-driven walk control, called Follow-the-Contact Point (FCP) gait control, and construction parameters of the robot itself. The design method is based on formal verification and can derive group of parameters which can satisfy design specifications in realistic time in spite of the complex design object. In this research, we verified its usefulness through experiments using a physical simulator and an actual robot.
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