| Budget Amount *help |
¥18,460,000 (Direct Cost: ¥14,200,000、Indirect Cost: ¥4,260,000)
Fiscal Year 2015: ¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2014: ¥7,150,000 (Direct Cost: ¥5,500,000、Indirect Cost: ¥1,650,000)
Fiscal Year 2013: ¥6,760,000 (Direct Cost: ¥5,200,000、Indirect Cost: ¥1,560,000)
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| Outline of Final Research Achievements |
In this study, the walking and running robots which referred a gait of human being a model have been developed by usage of a passive dynamical mechanism. Furthermore, the characteristics of the human walking were clarified analytically. By considering the specific characteristics of human having difficulty in realization with the conventional passive robot, the 3D autonomous passive walking on the slope and the walking with minimum assist on the level ground were accomplished. Those gait performance improved remarkably well. As high-speed locomotion, a natural, dynamic and continuous running of 14.5 km/h has been realized. Though some assists of human were accompanied, we avoided the excessive active control and were able to make use of passive dynamical mechanism without motor, sensor and computer to the maximum.
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