| Project/Area Number |
62460105
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| Research Category |
Grant-in-Aid for General Scientific Research (B)
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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 | University of Tokyo |
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Principal Investigator |
IGUCHI Masakazu Professor,Faculty of Engineering, University of Tokyo, 工学部, 教授 (60010683)
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| Co-Investigator(Kenkyū-buntansha) |
IMAIZUMI Hirohide Assistant, University of Tokyo, 工学部, 助手 (70010858)
FUJIOKA Takehiko Associate Professor, University of Tokyo, 工学部, 助教授 (60167624)
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| Project Period (FY) |
1987 – 1988
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| Project Status |
Completed (Fiscal Year 1988)
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| Budget Amount *help |
¥6,900,000 (Direct Cost: ¥6,900,000)
Fiscal Year 1988: ¥2,000,000 (Direct Cost: ¥2,000,000)
Fiscal Year 1987: ¥4,900,000 (Direct Cost: ¥4,900,000)
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| Keywords | Wheel Type / Mobile Robot / Attitude Controll / Acceleration Sensor / 加速度センサ / 不整地 / 車輪 / 不整地走行 / 姿勢センサ / 傾斜角センサ |
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| Research Abstract |
We have designed and developed a new vehicle with automotive technology and robot technology, and have made some basic experiments on its running. The concept of this vehicle is making full use of mobility in wheeled locomotion and terrain adaptability in legged locomotion.
The first experimental vehicle has four legs. Each legs have a vertical-moving wheel on the end with a rack-and-pinion mechanism, and has a servo-inclination sensor on the body.
Based on the results, we have adopted the structure of paralell links for the legs of the second vehicle, and the vehicle has eight degrees of freedom including its pitching motion. We have proposed a new control method for making full use of redundant legs. We have developed the original sensor system that consists of a rate-gyroscope and an acceleration sensor.
Some experiments on a test terrain, we also conducted. Consequently we have confirmed the effectiveness of the attitude control and the stable mobility.
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