• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to project page

2017 Fiscal Year Final Research Report

Hybrid Robot for Bridge Inspection

Research Project

  • PDF
Project/Area Number 16K12501
Research Category

Grant-in-Aid for Challenging Exploratory Research

Allocation TypeMulti-year Fund
Research Field Intelligent robotics
Research InstitutionOsaka University

Principal Investigator

ratsamee photchara  大阪大学, サイバーメディアセンター, 助教 (50772448)

Co-Investigator(Kenkyū-buntansha) 黒田 嘉宏  大阪大学, 基礎工学研究科, 准教授 (30402837)
新井 健生  電気通信大学, その他部局等, 客員教授 (90301275)
Co-Investigator(Renkei-kenkyūsha) Arai Tatsuo  電気通信大学, その他部局等, 客員教授 (90301275)
Project Period (FY) 2016-04-01 – 2018-03-31
Keywordshybrid robot / robot control / motion planning / flying robot
Outline of Final Research Achievements

We have developed a flying and walking hybrid robot prototype and implemented 3D flying motion based on adaptive control. The flight and stability performance of the proposed hybrid robot and a typical drone was verified by simulation. Furthermore, we have developed anti-gravity motion based on the permanent magnet at the end effector of the robot leg. We verified that by applying vibration at the contact point between an end effector and the steel surface, the attractive forces can be reduced significantly. Finally, we have developed a new Virtual Reality interface that adaptively searches for the viewpoint of an open space and also warn the user when a robot will hit the obstacle.

Free Research Field

Robotics

URL: 

Published: 2019-03-29  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi