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Study on walking robot with spherical outer shell for spherical sensor to search on disaster site

Research Project

Project/Area Number 26420206
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionChiba Institute of Technology

Principal Investigator

AOKI Takeshi  千葉工業大学, 先進工学部, 准教授 (20397045)

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: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2015: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2014: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
Keywordsロボット工学 / 知能機械 / 脚移動
Outline of Final Research Achievements

In this research, we have been developing walking robots with a spherical outer shell composed of superelastic rods. We have been proceeding with the development of three prototype robots aiming at establishment of a movement method by walking locomotion, realization of hybrid movement using the spherical outer shell, and movement by jumping motion. QRoSS II and IV which are prototype models were realized rotational movement of two types using the spherical outer shell. QRoSS III is aimed at moving over rough terrain by jumping motion, we realized jumping motion, constructing takeoff posture, and considering walking locomotion.

Report

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

    (10 results)

All 2017 2016 2015 2014

All Journal Article (1 results) (of which Peer Reviewed: 1 results,  Open Access: 1 results) Presentation (9 results) (of which Int'l Joint Research: 1 results)

  • [Journal Article] Design of Quadruped Walking Robot with Spherical Shell2014

    • Author(s)
      T. Aoki and K. Ogihara
    • Journal Title

      American Transactions on Engineering & Applied Sciences

      Volume: 3 Pages: 1652-1660

    • Related Report
      2014 Research-status Report
    • Peer Reviewed / Open Access
  • [Presentation] 球体外殻を持つ歩行ロボットの跳躍動作の実現-第3報: 離陸姿勢と歩容の検討-2017

    • Author(s)
      金城孝俊、青木岳史
    • Organizer
      第22回ロボティクスシンポジア
    • Place of Presentation
      磯部温泉「舌切雀のお宿」磯部ガーデン(群馬県安中市)
    • Year and Date
      2017-03-15
    • Related Report
      2016 Annual Research Report
  • [Presentation] 球体外殻を持つ歩行ロボットの跳躍動作の実現-第2 報 跳躍準備姿勢の構築-2016

    • Author(s)
      金城孝俊、青木岳史
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2016 in Yokohama
    • Place of Presentation
      パシフィコ横浜(神奈川県横浜市)
    • Year and Date
      2016-06-08
    • Related Report
      2016 Annual Research Report
  • [Presentation] 球体外殻を持つ四足歩行ロボットの研究-球体外殻を持つ四足歩行ロボットにおける段差乗り越え動作の実現-2016

    • Author(s)
      清陽亮、伊藤智、青木岳史
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2016 in Yokohama
    • Place of Presentation
      パシフィコ横浜(神奈川県横浜市)
    • Year and Date
      2016-06-08
    • Related Report
      2016 Annual Research Report
  • [Presentation] 球体外殻を持つ四足歩行ロボットの回転移動における動作の構築2016

    • Author(s)
      千葉竣介、鈴木雄大、青木岳史
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2016 in Yokohama
    • Place of Presentation
      パシフィコ横浜(神奈川県横浜市)
    • Year and Date
      2016-06-08
    • Related Report
      2016 Annual Research Report
  • [Presentation] 球体外殻を用いた回転移動のための旋回動作の実現2015

    • Author(s)
      清陽亮、伊藤智、青木岳史
    • Organizer
      第16回計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      名古屋国際会議場(愛知県名古屋市)
    • Year and Date
      2015-12-14
    • Related Report
      2015 Research-status Report
  • [Presentation] Development of Quadruped Walking Robot with Spherical Shell -Mechanical Design for Rotational Locomotion2015

    • Author(s)
      T.Aoki, S.Ito and Y.Sei
    • Organizer
      The 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems
    • Place of Presentation
      Hamburg, Germany
    • Year and Date
      2015-09-28
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] 球体外殻を持つ四足歩行ロボットの研究2015

    • Author(s)
      清陽亮、伊藤智、青木岳史
    • Organizer
      ロボティクス・メカトロニクス講演会2015 in Kyoto
    • Place of Presentation
      京都市勧業館「みやこめっせ京都」(京都府京都市)
    • Year and Date
      2015-05-17
    • Related Report
      2015 Research-status Report
  • [Presentation] 球体外殻を持つ歩行ロボットの跳躍動作の実現2015

    • Author(s)
      金城孝俊、青木岳史
    • Organizer
      ロボティクス・メカトロニクス講演会2015 in Kyoto
    • Place of Presentation
      京都市勧業館「みやこめっせ京都」(京都府京都市)
    • Year and Date
      2015-05-17
    • Related Report
      2015 Research-status Report
  • [Presentation] Design of Quadruped Walking Robot with Spherical Shell2014

    • Author(s)
      T. Aoki and K. Ogihara
    • Organizer
      The 3rd Int.Conf.on Design Engineering and Science
    • Place of Presentation
      Pilsen, Czech Republic
    • Year and Date
      2014-08-31 – 2014-09-03
    • Related Report
      2014 Research-status Report

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Published: 2014-04-04   Modified: 2018-03-22  

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