| Budget Amount *help |
¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2016: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2015: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2014: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
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| Outline of Final Research Achievements |
A working six-legged robot with soft wrists and four-fingered hands is developed. Taking advantages of the soft wrists and the fingers radially opening and closing, the following functions are realized: handling small and long objects with one or two hands, six-leg walking with the hands opened, upright four-leg walking with the hands opened, moving on rough terrain by grasping bumps with the hands, moving on ladders by grasping their supports and rungs with the hands, manipulation using two legs which can be regarded as arms with hanging from structures using other four legs, and gesture interface for teleoperation. The robot is applicable to ultrasonic nondestructive inspection.
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