| Budget Amount *help |
¥3,770,000 (Direct Cost: ¥2,900,000、Indirect Cost: ¥870,000)
Fiscal Year 2016: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2015: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2014: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
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| Outline of Final Research Achievements |
An objective of this research is to develop a walking stabilization technology to keep walking on loose soil like sand without falling for bipedal robots. A physics model describing dynamic deformation behavior of loose soil is constructed and enables walking simulation on loose soil. From repeated simulations and experiments, several stability indices in walking on loose soil are founded. In walking experiment on sand using a small humanoid robot, developed walking stabilization control system completes several tens of steps walking without falling.
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