Foundation of Resonance and Motion Control Theory for Muscular System
| Project/Area Number |
22760198
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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 |
Intelligent mechanics/Mechanical systems
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| Research Institution | Osaka University (2011-2012)
Ritsumeikan University (2010) |
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Principal Investigator |
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| Project Period (FY) |
2010 – 2012
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| Project Status |
Completed (Fiscal Year 2012)
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| 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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| Keywords | 共振 / 多関節ロボット / 可変剛性 / 筋駆動 / 適応制御 / 最適制御 / エネルギー効率 / 筋駆動系 / 運動制御 / ロボット / 装具 |
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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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Report
(4 results)
Research Products
(26 results)
