| Budget Amount *help |
¥2,990,000 (Direct Cost: ¥2,300,000、Indirect Cost: ¥690,000)
Fiscal Year 2014: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2013: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2012: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
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| Outline of Final Research Achievements |
This research aims to develop a motion control technique with integrating to visual environmental information for biped walking robot. In conventional approach, the dynamic balance of the biped robot is mainly controlled by using force and internal sensors, and the vision-based information recognized from camera image is used for motion and gait planning. On the other hand, this approach enables that the dynamic balance and stabilization of the walking motion are controlled principally from visual information. The proposed approach can realize active control with relating to the environments, and contributes to the enhancements of the control reliability and performance of walking motion.
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