| Budget Amount *help |
¥3,770,000 (Direct Cost: ¥2,900,000、Indirect Cost: ¥870,000)
Fiscal Year 2015: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2014: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
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| Outline of Final Research Achievements |
The three important technique for walking on the anti-gravitational environment was developed for hexapod robots. First, the transition motion for walking beyond the edge of the structural objects was proposed. The proposed algorithm provides the minimum steps for the walking. Secondly, the foot step planning algorithm for walking through the cluttered environment was proposed. Thirdly, for the problem of the collision with robot body at the blind area of attached external sensors, the adaptive walking motion control method was proposed. The three techniques were implemented to the real hexapod robot and the effectiveness was shown.
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