| Project/Area Number |
59420025
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| Research Category |
Grant-in-Aid for General Scientific Research (A)
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| Allocation Type | Single-year Grants |
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| Research Field |
機械力学・制御工学
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| Research Institution | The University of Tokyo |
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Principal Investigator |
MIURA Hirofumi The University of Tokyo.Professor, 工学部, 教授 (50010682)
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| Co-Investigator(Kenkyū-buntansha) |
SHIMOYAMA Isao The University of Tokyo.Associate Professor, 工学部, 助教授 (60154332)
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| Project Period (FY) |
1984 – 1986
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| Project Status |
Completed (Fiscal Year 1986)
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| Budget Amount *help |
¥21,500,000 (Direct Cost: ¥21,500,000)
Fiscal Year 1986: ¥1,500,000 (Direct Cost: ¥1,500,000)
Fiscal Year 1985: ¥4,500,000 (Direct Cost: ¥4,500,000)
Fiscal Year 1984: ¥15,500,000 (Direct Cost: ¥15,500,000)
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| Keywords | Intelligent Robot / Biped Robot / Quadruped Robot / Robot Language / Multi Task Concurrent System / ロボットの動的制御 / 知能ロボット / 歩行ロボット / 動歩行 / マニプレータ / 視覚情報 / 歩容 / PROLOG |
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| Research Abstract |
Expert Robot System,the title of this research project,is defined to be the robot to which the results of artificial intelligence technology are applied. Knowledge engineering seems especially to be useful for the control of the intelligent robot.
The intelligent robot will be able to be controlled in sophisticated manner,if the well arranged knowledge data base is constructed in the control-software-system of the robot. This research project is the previous stage of the assembling of artificial intelligence and the robotics technology.
The followings are principal results in three years of this research project.
(1) The control system for the intelligent robot,in which two different kinds of computers are connected,has been construcred. The workstation "APOLLO/Domain(DN460)" and the personal computer "VME/10" are combined.
(2) The quadruped locomotive robot "COLLIE" walked successfully. The CCD camera mounted on the robot can recognize the environment (configuration of the ground) and the most addaptive gait is decided by the program processed in the workstation.
(3) Programming language for the intelligent robot-ARP(Advanced Robot Programming Language) has been developed. ARP is based on PROLOG and several functions needed to control the robot,eg. interupt,are added.
(4) Multi Task Concurrent Oriented Language (COL) has also been developed.
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