Study on Mechanism and Control of the Biped Robot

Research Project

Project/Area Number	60302045
Research Category	Grant-in-Aid for Co-operative Research (A)
Allocation Type	Single-year Grants
Research Field	機械力学・制御工学
Research Institution	The University of Tokyo
Principal Investigator	MIURA Hirofumi The Univ. of Tokyo. Professor, 工学部, 教授 (50010682)
Co-Investigator(Kenkyū-buntansha)	SHIMOYAMA Isao The University of Tokyo. Associate Professor, 工学部, 助教授 (60154332) YAMASHITA Tadashi Kyushu Institute of Technology. Professor, 教授 (50039070) MITA Tsutomu Chiba University. Associate Professor, 工学部, 助教授 (60092102) FUNABASHI Hiroaki Tokyo Institute of Technology. Professor, 工学部, 教授 (10016529) ARIMOTO Suguru University of Osaka. Professor, 基礎工学部, 教授 (00029399)
Project Period (FY)	1985 – 1986
Project Status	Completed (Fiscal Year 1986)
Budget Amount *help	¥7,000,000 (Direct Cost: ¥7,000,000) Fiscal Year 1986: ¥3,500,000 (Direct Cost: ¥3,500,000) Fiscal Year 1985: ¥3,500,000 (Direct Cost: ¥3,500,000)
Keywords	Biped Robot / Biped Locomotion / Legged Machine / Locomotive Robot / Dynamical Walk / リンク機構
Research Abstract	The followings are main activities and results of this research project. 1. Publication of "Data book of biped locomotive robot <I> " (1) "Data book of biped locomotive robot <I> " was published in June, 1985. This contained data of robots which had been constructed by the investigators of this projects. The following items are incleded:Name of robot, Laboratory, Year of construction, Purpose of the research, picture of robot, degree of freedom(number and what kind), actuator, sensor, physical dimension, material, controller(processor), special feature, related papers. (2) "Data book of biped locomotive robot <II> " was published in February, 1986. In the data book <I> , the related papers were listed pu only by the titles of them. In data book <II> the full papers were contained. Colored pictures of some robots were also added. 2. Production of Video Tape Video tape showing the walking of the robots which had been constructed was produced. Narration of this tape is in English. This is very useful as the material by which we make presentation about our research to the foreign researchers. 3. Special subject theme session in the meeting of Robotics Society of Japan We had the special subject session "Bipedal Robot" in the 3rd annual meeting of Robotics Society of Japan (November, 1985:Osaka). Five original papers were presented. About 100 researchers attended this meeting. 4. Keynote speach was presented at Symposium on Intelligent Mobile Robot(June 1986)