| Project/Area Number |
24760201
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | The University of Electro-Communications |
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Principal Investigator |
SUZUKI Yosuke 電気通信大学, 情報理工学(系)研究科, 助教 (20582331)
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| Project Period (FY) |
2012-04-01 – 2014-03-31
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| Project Status |
Completed (Fiscal Year 2013)
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| Budget Amount *help |
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2013: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
Fiscal Year 2012: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
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| Keywords | モジュラーロボット / 適応変形 / ソフトメカニクス / 圧力センサ |
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| Research Abstract |
This study aimed to develop a mechanism which covers robotic surfaces, e.g. robotic hands, with a function to change its shape and stiffness autonomously and adaptively to an object being to contact. The mechanism consists of multiple sensing elements to detect contact state with the object and multiple actuators to transform the configuration of the mechanism. By introducing a method for generating the transformation according to the output distribution of the sensor elements, the mechanism fits to the object without a control unit such as CPU. We designed the mechanism in a framework of modular robots. We proposed a method that each module has the same sensors for detecting its surrounding condition and for communicating with the neighboring modules, and that the module can determine the next motion based on integrated processing the information with only using an analog computation circuit.
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