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Design and motion control of a new walking robot utilizing human musculoskeletal structure and its stiffness adjustment capability

Research Project

Project/Area Number 26420201
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionEhime University

Principal Investigator

LEE JAEHOON  愛媛大学, 理工学研究科(工学系), 准教授 (00554411)

Research Collaborator JAFARI Amir  アメリカテキサス大学(UTSA), 機械工学科, 助教授
YANO Takashige  
SUZUKI Hirotatsu  
TAKIGUCHI Takeaki  
TAKEMOTO Hiroaki  
KATAOKA Ryoichiroh  
Project Period (FY) 2014-04-01 – 2017-03-31
Project Status Completed (Fiscal Year 2016)
Budget Amount *help
¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2016: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2015: ¥2,860,000 (Direct Cost: ¥2,200,000、Indirect Cost: ¥660,000)
Fiscal Year 2014: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Keywords歩行ロボット / 筋骨格構造 / 弾性調節機能
Outline of Final Research Achievements

A new semi-passive walking robot having human musculoskeletal structure was developed. A unified method to regulate motion characteristics by using multiple actuators was proposed and verified. Its actuation unit was manufactured and used to confirm that it is possible to control its both position and stiffness. It was applied to successful walking experiments using the three-linked planar walking robot developed in this research. Besides, a five-linked walking robot having knee joint was developed and a controller based on CPG (Central Pattern Generator) exploiting information of pose sensor and foot force sensor has been embedded in it. It was observed through computer simulations and experiments that the robot can walk continuously and its motion is stabilized by the sensor information. In addition, a new joint mechanism was designed that can adjust the stiffness of itself not by using antagonism with multiple actuators but by using a special device with a spring and a small motor.

Report

(4 results)
  • 2016 Annual Research Report   Final Research Report ( PDF )
  • 2015 Research-status Report
  • 2014 Research-status Report
  • Research Products

    (17 results)

All 2017 2016 2015 2014 Other

All Int'l Joint Research (1 results) Journal Article (1 results) (of which Peer Reviewed: 1 results,  Open Access: 1 results,  Acknowledgement Compliant: 1 results) Presentation (15 results) (of which Int'l Joint Research: 2 results)

  • [Int'l Joint Research] University of Texas at San Antonio(米国)

    • Related Report
      2016 Annual Research Report
  • [Journal Article] Development of a Biped Walking Robot with Antagonistic Actuation2016

    • Author(s)
      Takashige Yano, Jae Hoon Lee, Shingo Okamoto
    • Journal Title

      International Journal of Mechanical Engineering and Robotics Research

      Volume: 5 Pages: 196-201

    • DOI

      10.18178/ijmerr.5.3.196-201

    • Related Report
      2015 Research-status Report
    • Peer Reviewed / Open Access / Acknowledgement Compliant
  • [Presentation] Development of Semi-Passive Biped Walking Robot Embedded with CPG-based Locomotion Control2017

    • Author(s)
      Hirotatsu Suzuki, Jae Hoon Lee, Shingo Okamoto
    • Organizer
      The 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2017)
    • Place of Presentation
      Jeju, Korea
    • Year and Date
      2017-06-28
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Walking Experiment of Biped Robot with Antagonistic Actuation Using Non-Linear Spring2016

    • Author(s)
      Takashige Yano, Jae Hoon Lee, Shingo Okamoto
    • Organizer
      International MultiConference of Engineers and Computer Scientists
    • Place of Presentation
      Hong Kong (China)
    • Year and Date
      2016-03-16
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] 拮抗駆動型二脚歩行ロボットの開発と歩行制御2016

    • Author(s)
      矢野隆成,李在勲,岡本伸吾
    • Organizer
      日本機械学会中四国支部 第54期総会・講演会
    • Place of Presentation
      愛媛大学(愛媛県松山市)
    • Year and Date
      2016-03-09
    • Related Report
      2015 Research-status Report
  • [Presentation] 膝付二足準受動歩行ロボットの開発と歩行制御2016

    • Author(s)
      鈴木寛達,李在勲,岡本伸吾
    • Organizer
      日本機械学会中四国支部 第46回学生員卒業研究発表講演会
    • Place of Presentation
      愛媛大学(愛媛県松山市)
    • Year and Date
      2016-03-08
    • Related Report
      2015 Research-status Report
  • [Presentation] 可変剛性腱のモデリングと計算機シミュレーション2016

    • Author(s)
      滝口雄晶,李在勲,岡本伸吾
    • Organizer
      平成28年度計測自動制御学会四国支部学術講演会
    • Place of Presentation
      徳島大学(徳島県徳島市南常三島町)
    • Related Report
      2016 Annual Research Report
  • [Presentation] CPG制御法を用いて膝付き二脚歩行ロボットの計算機シミュレーション2016

    • Author(s)
      鈴木寛達,李在勲,岡本伸吾
    • Organizer
      平成28年度計測自動制御学会四国支部学術講演会
    • Place of Presentation
      徳島大学(徳島県徳島市南常三島町)
    • Related Report
      2016 Annual Research Report
  • [Presentation] 筋骨格系二脚歩行ロボットの開発2015

    • Author(s)
      矢野隆成,李在勲,岡本伸吾
    • Organizer
      計測自動制御学会四国支部学術講演会
    • Place of Presentation
      高知工科大学(高知県高知市)
    • Year and Date
      2015-11-28
    • Related Report
      2015 Research-status Report
  • [Presentation] CPG 制御法を用いた膝付き二足歩行ロボットの開発2015

    • Author(s)
      鈴木寛達,李在勲,岡本伸吾
    • Organizer
      計測自動制御学会四国支部学術講演会
    • Place of Presentation
      高知工科大学(高知県高知市)
    • Year and Date
      2015-11-28
    • Related Report
      2015 Research-status Report
  • [Presentation] 可変弾性機能を有する関節機構の性能実験2015

    • Author(s)
      片岡亮一郎,李在勲,岡本伸吾
    • Organizer
      計測自動制御学会四国支部学術講演会
    • Place of Presentation
      愛媛大学(愛媛県松山市)
    • Year and Date
      2015-11-28
    • Related Report
      2015 Research-status Report
  • [Presentation] 1自由度筋骨格系脚システムの開発2015

    • Author(s)
      矢野隆成,李在勲,岡本伸吾
    • Organizer
      ロボティクス・メカトロニクス講演会2015
    • Place of Presentation
      みやこめっせ(京都市)
    • Year and Date
      2015-05-17
    • Related Report
      2015 Research-status Report
  • [Presentation] Motion Control of 1-DOF Robotic System with Antagonistic Actuation2015

    • Author(s)
      Takashige Yano, Jae Hoon Lee, Shingo Okamoto
    • Organizer
      10th Korea Robotics Society Annual Conference
    • Place of Presentation
      Daejeon (Korea)
    • Year and Date
      2015-05-06
    • Related Report
      2015 Research-status Report
  • [Presentation] 日本機械学会中国四国学生会第45回学生員卒業研究発表講演会2015

    • Author(s)
      竹本宏晃,李 在勲,岡本伸吾
    • Organizer
      1自由度系筋骨格系駆動ユニットの制御実験
    • Place of Presentation
      近畿大学
    • Year and Date
      2015-03-05
    • Related Report
      2014 Research-status Report
  • [Presentation] Stiffness modulation of a 1-DOF robotic manipulator with antagonistic actuators2015

    • Author(s)
      LEE Jae Hoon, Okamoto Shingo
    • Organizer
      2015 Global Conference on Artificial Intelligence
    • Place of Presentation
      Shanghai, China
    • Year and Date
      2015-02-08 – 2015-02-09
    • Related Report
      2014 Research-status Report
  • [Presentation] 1自由度筋骨格系脚ロボットの運動シミュレーション2014

    • Author(s)
      矢野隆成,李 在勲,岡本伸吾
    • Organizer
      2014年度計測自動制御学会四国支部学術講演会
    • Place of Presentation
      愛媛大学
    • Year and Date
      2014-11-28
    • Related Report
      2014 Research-status Report
  • [Presentation] 1自由度系筋骨格系駆動ユニットの開発2014

    • Author(s)
      竹本宏晃,李 在勲,岡本伸吾
    • Organizer
      2014年度計測自動制御学会四国支部学術講演会
    • Place of Presentation
      愛媛大学
    • Year and Date
      2014-11-28
    • Related Report
      2014 Research-status Report

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Published: 2014-04-04   Modified: 2022-02-16  

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