| Project/Area Number |
25820086
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | The University of Tokyo (2014-2015)
Nagoya University (2013) |
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Principal Investigator |
Yamamoto Ko 東京大学, 工学(系)研究科(研究院), 助教 (20641880)
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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 |
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2014: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2013: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
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| Keywords | 神経筋骨格モデル / 非線形制御 / 動力学解析 / ヒューマノイド |
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| Outline of Final Research Achievements |
To investigate how human realizes complicated motions under the physical constraint, we carried out basic research for constructing a motion controller database. We modeled human motion controller as a nonlinear controller, derived mathematical representation for the allowable range of motion under the physical constraint, and developed a framework for stable motion transitions. The proposed framework was validated by experiments using a humanoid robot platform. In the experiments, we realized a sequential motion transition with maintaining balance, and a falling avoidance control by autonomously switching motions against unknown disturbances.
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