2021 Fiscal Year Final Research Report
Constraint satisfactory integrated control for multi-legged robots
Project/Area Number |
19H02108
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Research Category |
Grant-in-Aid for Scientific Research (B)
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Allocation Type | Single-year Grants |
Section | 一般 |
Review Section |
Basic Section 20020:Robotics and intelligent system-related
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Research Institution | Nanzan University (2020-2021) Nagoya University (2019) |
Principal Investigator |
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Project Period (FY) |
2019-04-01 – 2022-03-31
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Keywords | 知能ロボティクス / 多脚ロボット / 知能機械 / 移動ロボット / 分散制御 |
Outline of Final Research Achievements |
We studied gait control to realize a multi-legged robot that can move flexibly and robustly in unknown and complex uneven terrain environments such as disaster areas. First, as a gait control that can comprehensively adapt to environmental changes and robot failures, a gait control that satisfies the constraint of continuous walking in an unconstrained environment is developed. Then, a semi-autonomous control system that uses local adaptive control of each leg, an immersive control system, and contact point planning were developed and embedded to the walk control. This system enables the robot to achieve the operator's intended operation as well as excellent traversing ability over rough terrain. These control methods were demonstrated in an actual experiment with multi-legged (hexapod and centipede-type) robots developed using a 3D printer.
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Free Research Field |
ロボティクス
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Academic Significance and Societal Importance of the Research Achievements |
災害の多い我が国では、不整地においても優れた移動能力と人や物資を搬送できる移動手段が必要です。本研究では、そのような能力を持つ多脚ロボット(6脚以上の脚を持つ移動ロボット)の実現を目指し、根幹となる歩行制御について歩容(歩き方)制御から、環境適応、耐故障制御、運動計画、操作系と幅広く研究開発を行いました。それらの有効性は、独自開発の多脚ロボットによる実機実験によって実証され、社会での活躍に大きく近づきました。
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