Design of adaptive decentralized walk control for centipede-like multi-legged robot
| Project/Area Number |
25420217
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Nagoya University |
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Principal Investigator |
Shinkichi Inagaki 名古屋大学, 工学(系)研究科(研究院), 准教授 (80362276)
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| Co-Investigator(Renkei-kenkyūsha) |
TATSUYA SUZUKI 名古屋大学, 工学研究科, 教授 (50235967)
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| Project Period (FY) |
2013-04-01 – 2016-03-31
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| Project Status |
Completed (Fiscal Year 2015)
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| Budget Amount *help |
¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2015: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2014: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2013: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
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| Keywords | 知能機械学 / 機械システム / ロボティクス / 歩行ロボット / 多脚移動 / 分散システム / 分散制御 / 多脚歩行ロボット / ムカデ型ロボット / 不整地歩行 / 接地点追従法 |
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| Outline of Final Research Achievements |
This research aimed to realize a multi-legged robot capable to traverse unknown and complex environment. For this purpose, originated from decentralized walking control ‘Follow-the-Contact-Point’ gait control, a new control method which has consistency with both high-order motion planning and local adaptive motion control was addressed. First, planning of contacting points of legs with utilizing a depth sensor was developed as the high-order motion planning and the availability was verified via experiments. Next, in order to improve the motion performance of robot, new decentralized walk control by which both the active intersegment joints and the legs are simultaneously and successfully controlled is developed. Finally, parameter design method that possible to design the parameters of the high-order motion planning and local decentralized control with ensuring availability of the robot to walk even in versatile environments is developed.
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Report
(4 results)
Research Products
(16 results)
