| Budget Amount *help |
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2015: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2014: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2013: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
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| Outline of Final Research Achievements |
The dynamics computation techniques developed in the field of humanoid robotics have been contributing to the methodology development of the modeling of human body and the analysis of human motion. The knowledge obtained from the human analysis is also feedback to the design and the control of robots. In this project, the computational framework of the spatiotemporal optimization for humanoid systems was developed. It can handle the parameters identification, motion planning and analysis simultaneously. The framework was applied for the physical load estimation based on the identification of the humanoid dynamics. Since the proposed optimization can evaluate the motion features of both a humanoid robot and a human body, it was also tested on the motion retargeting and evaluation between two humanoids systems.
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