2000 Fiscal Year Final Research Report Summary
Study on Autonomous Distributed Coordinate Function for Multi-Legged Robot with Adaptation in Unknown Environment
| Project/Area Number |
11650460
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Control engineering
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| Research Institution | Institute of Space and Astronautical Science |
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Principal Investigator |
KUBOTA Takashi Institute of Space and Astronautical Science Spacecraft Engineering Division Associate Professor, 宇宙探査工学研究系, 助教授 (90211888)
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| Project Period (FY) |
1999 – 2000
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| Keywords | Multi-Legged Robot / Environment Recognition / Autonomous Dstributed Sistem / Coordinate System / Sensor Information Processinge / Walking Algorithm / Image Recognition / Multi-Degree of Freedom System |
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| Research Abstract |
Autonomous distributed coordinate system has been studied focusing on multi-legged robot with adaptation in unknown environment. I have studied a small and lightweight rover, which can move across a rough terrain such as a steep slope inside craters. A prototype of the robot with six legs has been developed. I have studied the system concept, architecture, and configuration of the developed walking rover for planetary exploration. I could obtain the information on functions of each legs. I proposed a new walking algorithm based on some basic rules. The proposed algorithm can be applied to walking robots with any architecture. The validity of the proposed algorithm is shown by some computer simulations. I also could obtain the parameters on the walking performance. These parameters are very important to design and develop the walking algorithms.
Then I proposed a walking scheme for static walking on a rough terrain. The body of walking robot could be controlled based on terrain information. By using the proposed method, walking robots can travel on rough terrain. The effectiveness of the proposed control scheme is shown by graphical simulations.
I also proposed a new design concept on weight arrangement for light-weight robots which can travel in such rough terrain as craters and cliffs. The design analysis on static and dynamic motion was performed. The effectiveness was studied in detail from the viewpoint of the speed and energy consumption of walking robots. A small robot with six legs was developed to investigate the performance of the proposed design scheme. The validity and effectiveness of the proposed methods were confirmed and verified by computer simulations and experimental results.
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