| Budget Amount *help |
¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2016: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2015: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2014: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
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| Outline of Final Research Achievements |
Two concepts of designing a high step climbable quadruped, effective for the use in a nuclear power plant, are proposed. Front-rear cross-leg configuration that can equip longer leg limb with wide movable range on a compact body. Hybrid configuration of 2-joint limb, reduced from normal 3-joint, with omnidirectional mecanum-wheel on its foot can make long high stiffness leg in lighter weight. Effectiveness of these concepts are verified by experimental machine, and these can be new designing principles of high performance quadruped robot.
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