| Budget Amount *help |
¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2012: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2011: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2010: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
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| Research Abstract |
In this study, we proposed a concept of resonance and motion control theory for muscular systems, in which mechanical stiffness of actuators can be adjustable. For this purpose, we also proposed a lightweight and small-size mechanism of stiffness adjustment. Based on the concept of resonance, we proposed a control method that not only adaptively optimize joint stiffness, but also control motion. Advantages of this control method are that it does not require parameter values of the robots or elaborate numerical calculations.
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