Research on mobile workable multi-legged robot in anti-gravity / closed narrow space
| Project/Area Number |
25280094
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Partial Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Intelligent robotics
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| Research Institution | Osaka University |
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Principal Investigator |
Arai Tatsuo 大阪大学, 基礎工学研究科, 教授 (90301275)
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| Co-Investigator(Kenkyū-buntansha) |
小嶋 勝 大阪大学, 基礎工学研究科, 助教 (00533647)
前 泰志 大阪大学, 基礎工学研究科, 准教授 (50304027)
大原 賢一 名城大学, 理工学部, 准教授 (50517886)
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| Project Period (FY) |
2013-04-01 – 2017-03-31
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| Project Status |
Completed (Fiscal Year 2016)
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| Budget Amount *help |
¥16,380,000 (Direct Cost: ¥12,600,000、Indirect Cost: ¥3,780,000)
Fiscal Year 2015: ¥5,200,000 (Direct Cost: ¥4,000,000、Indirect Cost: ¥1,200,000)
Fiscal Year 2014: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2013: ¥7,020,000 (Direct Cost: ¥5,400,000、Indirect Cost: ¥1,620,000)
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| Keywords | 腕脚統合型ロボット / 作業移動 / 動作計画 / センシング / アクチュエーション |
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| Outline of Final Research Achievements |
The purpose of this research is development of the multi legged robot, which could achieve the inspection and maintenance work in specific place such as wall and ceiling (anti-gravitational space) and in the interior of pipes and other (closed narrow space). Specifically, we aim to achieve general anti-gravity / closed space movement with tasks, we designed the legs and motion that can support their own weight under anti-gravity environment and developed end effector and leg mechanism for work. Furthermore, we established a control method that achieves flexible and robust movement. Finally, we evaluate developed system and toward to apply inspection and maintenance work.
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Report
(5 results)
Research Products
(20 results)
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[Presentation] Inspection Robot In Complicated 3D Environments2015
Author(s)
Tatsuo Arai; Kazuto Kamiyama; Pakpoom Kriengkomol; Yasushi Mae; Masaru Kojima;
Organizer
32nd International Symposium on Automation and Robotics and Mining
Place of Presentation
University of Oulu, Oulu, Finland
Year and Date
2015-06-15
Related Report
Int'l Joint Research
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[Presentation] 3D Movement of Legged Robot in Narrow Space2014
Author(s)
Takeshi Toda, Kenichi Ohara, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai
Organizer
International Symposium on Micro-Nano Mechatronics and Human Science
Place of Presentation
Nagoya
Year and Date
2014-11-09 – 2014-11-12
Related Report
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