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Spherical Magnetic Joint based Antigravitational Locomotion of Multi-Legged Robot

Research Project

Project/Area Number 23K22720
Project/Area Number (Other) 22H01449 (2022-2023)
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeMulti-year Fund (2024)
Single-year Grants (2022-2023)
Section一般
Review Section Basic Section 20020:Robotics and intelligent system-related
Research InstitutionOsaka Institute of Technology

Principal Investigator

ラサミー ポチャラ  大阪工業大学, ロボティクス&デザイン工学部, 講師 (50772448)

Co-Investigator(Kenkyū-buntansha) 東田 学  大阪大学, サイバーメディアセンター, 講師 (40263339)
前 泰志  関西大学, システム理工学部, 教授 (50304027)
新井 健生  電気通信大学, 脳・医工学研究センター, 客員教授 (90301275)
Project Period (FY) 2022-04-01 – 2025-03-31
Project Status Granted (Fiscal Year 2024)
Budget Amount *help
¥18,330,000 (Direct Cost: ¥14,100,000、Indirect Cost: ¥4,230,000)
Fiscal Year 2024: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2023: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2022: ¥14,690,000 (Direct Cost: ¥11,300,000、Indirect Cost: ¥3,390,000)
Keywordssperical joint / magnet / locomotion / spherical magnet / spherical joint / spherical magnetic joint / walking robot / legged robot / leg robot / multi-legged robot
Outline of Research at the Start

we propose the design and implementation of spherical magnetic joint (SMJ)-based gait generation for the inverted locomotion of multi-legged robots. A spherical permanent magnet was selected to generate a consistent attractive force, enabling the robot to perform inverted locomotion under steel structures.

Outline of Annual Research Achievements

構造点検(橋梁や天井裏など)を人間が行う場合、安全性、コスト、効率に関する問題が生じる。複雑な地形や人間がアクセスしにくい場所では危険が伴う。これらの課題を解決するため、異なる磁石の型式を使用して鋼面上で反重力移動を行う複数のロボット形状を開発した。

Current Status of Research Progress
Current Status of Research Progress

2: Research has progressed on the whole more than it was originally planned.

Reason

腕形ロボットだけでなく、異なる磁石の型式を使用して鋼面上で反重力移動を行うことができる複数のロボット形状を開発しました。

Strategy for Future Research Activity

ロールと再構成可能なロボットを開発し、機械学習を使用して熱画像カメラを用いたロボットの歩行計画も行います。

Report

(2 results)
  • 2023 Annual Research Report
  • 2022 Annual Research Report
  • Research Products

    (1 results)

All 2023

All Journal Article (1 results)

  • [Journal Article] Generation of Inverted Locomotion Gait for Multi-Legged Robots Using a Spherical Magnetic Joint and Adjustable Sleeve2023

    • Author(s)
      Sison Harn、Ratsamee Photchara、Higashida Manabu、Uranishi Yuki、Takemura Haruo
    • Journal Title

      Journal of Robotics and Mechatronics

      Volume: 35 Issue: 5 Pages: 1227-1242

    • DOI

      10.20965/jrm.2023.p1227

    • ISSN
      0915-3942, 1883-8049
    • Year and Date
      2023-10-20
    • Related Report
      2023 Annual Research Report

URL: 

Published: 2022-04-19   Modified: 2024-12-25  

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