| Project/Area Number |
25870218
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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 |
Design engineering/Machine functional elements/Tribology
Natural disaster / Disaster prevention science
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| Research Institution | Tokyo Institute of Technology |
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Principal Investigator |
MATSUURA Daisuke 東京工業大学, 大学院理工学研究科, 助教 (40618740)
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| Project Period (FY) |
2013-04-01 – 2015-03-31
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| Project Status |
Completed (Fiscal Year 2014)
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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 | 弾性冗長機構 / 可変剛性機構 / 接触センシング / 災害対応 / ロボティクス / 災害対応ロボット / 視覚・力覚情報の統合 / 機械工学 / 知能ロボット |
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| Outline of Final Research Achievements |
This research project has developed a robotic manipulator and an algorithm of evaluating stability of surrounding objects for disaster response. To achieve force measurement with high dynamic range including a non-zero specific minimum value and a very large maximum value, a variable stiffness mechanism (VSM) having a closed-loop mechanism driven by a couple of motors and a leaf spring connecting a static link and an output link was designed. Both angular displacement and rotational stiffness of the mechanism can be changed by using the principle of differential drive and adjustable effective length of the leaf spring.
In order to evaluate how target objects easily collapse or are suitable for supporting effective load, an algorithm called tactile sensing scheme was formulated. This algorithm validates stability of surrounding objects based on visual information measured by TOF sensor and force information obtained by measured displacement and given stiffness of the VSM.
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