Mechanism and control of bipedal fast locomotion robots based on limit cycle reference
Project/Area Number |
26420171
|
Research Category |
Grant-in-Aid for Scientific Research (C)
|
Allocation Type | Multi-year Fund |
Section | 一般 |
Research Field |
Dynamics/Control
|
Research Institution | Tokyo Institute of Technology |
Principal Investigator |
|
Project Period (FY) |
2014-04-01 – 2018-03-31
|
Project Status |
Completed (Fiscal Year 2017)
|
Budget Amount *help |
¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2016: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2015: ¥2,990,000 (Direct Cost: ¥2,300,000、Indirect Cost: ¥690,000)
Fiscal Year 2014: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
|
Keywords | 2脚ロボット / イナータ / 揺動質量 / 2足ロボット / リミットサイクル走行 / リミットサイクル歩行 |
Outline of Final Research Achievements |
For a study of bipedal running robots, we have designed and prepared of construction of a running robot with inerters and wobbling mass. In the design of the robot, SEA(Series Elastic Actuator) mechanism was introduced to overcome uncertainties of environment. A control method for robots with SEAs was also proposed and the validity of the method was confirmed by numerical simulations.
|
Report
(5 results)
Research Products
(13 results)