Multi-Leg System for Aerial Vehicles

• Project/Area Number: 22760196
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Kanazawa Institute of Technology
• Principal Investigator: DOI Takahiro 金沢工業大学, 工学部, 講師 (40410633)
• Project Period (FY): 2010 – 2011
• Project Status: Completed (Fiscal Year 2011)
• Budget Amount: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000); Fiscal Year 2011: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000); Fiscal Year 2010: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
• Keywords: ロボティクス / 脚ロボット

Research Abstract

As a system of aerial vehicle and landing gear for landing smoothly on general undulating ground, a concept of multi-leg system was proposed. Leg mechanisms that have symmetric parallel links for soft landing was developed and landing performance was verified. Flying performance loading every control, actuation and power equipments and landing performance maintaining its body horizontal on stepped ground were evaluated experimentally. Adaptive leg mechanism to irregular terrain with reduced number of actuators was proposed and landing performance was verified. That utilizes the DOFs of the aerial vehicle.

Research Products

• [Journal Article] Multi-Leg System for Aerial Vehicles (2012)
  • Author(s): Takahiro Doi, Kazunori Miyata, Takamasa Sasagawa and Kenjiro Tadakuma
  • Journal Title: Journal of Robotics and Mechatronics Volume: Vol.24, No.1 Pages: 174-179
  • NAID: 110009957793
  • Peer Reviewed
• [Journal Article] Multi-Leg System for Aerial Vehicles (2012)
  • Author(s): Takahiro Doi, Kazunori Miyata, Takamasa Sasagawa, Kenjiro Tadakuma
  • Journal Title: Journal of Robotics and Mechatronics Volume: 24 Pages: 174-179
  • NAID: 110009957793
  • Peer Reviewed
• [Journal Article] A Study of Leg-Type Landing Gear for Aerial Vehicles-Development of One Leg Model- (2011)
  • Author(s): Kazunori Miyata, Takamasa Sasagawa, Takahiro Doi, and Kenjiro Tadakuma
  • Journal Title: Journal of Robotics and Mechatronics Volume: Vol.23, No.2 Pages: 266-270
  • Peer Reviewed
• [Journal Article] A Study of Leg-Type Landing Gear for Aerial Vehicles-Development of One Leg Model- (2011)
  • Author(s): Kazunori Miyata, Takamasa Sasagawa, Takahiro Doi, Kenjiro Tadakuma
  • Journal Title: Journal of Robotics and Mechatronics Volume: 23 Pages: 266-270
  • Peer Reviewed
• [Presentation] 飛行ビークルのための省自由度対地適応機構の研究 (2011)
  • Author(s): 〓田知明, 土居隆宏, 多田隈建二郎
  • Organizer: 第12回計測自動制御学会システムインテグレーション部門講演会2011予稿集
  • Place of Presentation: 京都大学
  • Year and Date: 2011-12-23
• [Presentation] 飛行ビークルのための省自由度対地適応機構の研究 (2011)
  • Author(s): 桑田知明(金沢工大), 土居隆宏(金沢工大), 多田隈建二郎(阪大)
  • Organizer: 第12回計測自動制御学会システムインテグレーション部門講演会
  • Place of Presentation: 京都大学
  • Year and Date: 2011-12-23
• [Presentation] 飛行ビークルのための多脚型対地適応システムの研究-二脚モデルの動作試験- (2011)
  • Author(s): 笹川敬正, 宮田和典, 土居隆宏, 多田隈建二郎
  • Organizer: ロボティクス・メカトロニクス講演会' 11予稿集
  • Place of Presentation: 岡山コンベンションセンター
  • Year and Date: 2011-05-27
• [Presentation] 飛行ビーグルのための多脚型対地適応システムの研究 (2011)
  • Author(s): 笹川敬正(金沢工大), 宮田和典(平田機工), 土居隆宏(金沢工大), 多田隈建二郎(阪大)
  • Organizer: ロボティクス・メカトロニクス講演会'11
  • Place of Presentation: 岡山コンベンションセンタ
  • Year and Date: 2011-05-27
• [Presentation] Multi-Leg System for Aerial Vehicles (2010)
  • Author(s): Takahiro Doi, Kazunori Miyata, Takamasa Sasagawa, and Kenjiro Tadakuma
  • Organizer: International Conference on Advanced Mechatronics
  • Place of Presentation: 大阪大学
  • Year and Date: 2010-10-06
• [Presentation] 飛行ビークルのための多脚型対地適応システムの研究-一脚モデルの動作試験 (2010)
  • Author(s): 宮田和典, 笹川敬正, 土居隆宏, 多田隈建二郎
  • Organizer: ロボティクス・メカトロニクス講演会' 10予稿集
  • Place of Presentation: 旭川大雪アリーナ
  • Year and Date: 2010-06-01