Research of the pendulum gravity control postural stabilization flight robot using dynamic inversion control
| Project/Area Number |
23560963
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Aerospace engineering
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| Research Institution | National Institute of Advanced Industrial Science and Technology |
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Principal Investigator |
IWATA Kakuya 独立行政法人産業技術総合研究所, 知能システム研究部門, 主任研究員 (70356533)
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| Project Period (FY) |
2011 – 2013
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| Project Status |
Completed (Fiscal Year 2013)
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| Budget Amount *help |
¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2013: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2012: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
Fiscal Year 2011: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
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| Keywords | 無人航空機 / 飛行ロボット / 空中無人輸送機 / カーゴＵＡＶ / ＵＡＶ / 姿勢制御 / バランス制御 / 振子安定制御 / Penduroid / Pendulum android / 振子姿勢安定化ロボット / ペンデュロイド / １本腕ぶら下がりロボット / 空中姿勢制御 / 重力振り子式安定 / 無人機 / UAV / 低速飛行体 / 中央集中操舵機構 / ロール安定化制御 / 無人飛行機 |
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| Research Abstract |
The design of an inclusion control circuit and the manufacture of an electric circuit which put into dynamic inversion control software were performed, and it built in the test prototype of 1/3 scale, and conducted the attitude control experiment of as opposed to aerial disturbance for an experiment. It became clear that the effect which controls rolling motion is reduced by combining angular velocity sensor (gyroscope sensor) feedback and the angular acceleration sensor of a high sampling frequency. Using these results, in the Niigata sky project, the research and development of the turbojet engine which is a lightweight body, development of the electric high thrust control actuator of 2 axes, and lightweight body using a carbon fiber composite material is developed, and a pendulum stable control type unmanned aerial vehicle is manufactured.
Real application of the result of research is aimed at.
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Report
(4 results)
Research Products
(57 results)
