| 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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| 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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