2022 Fiscal Year Final Research Report
Research on Tensegrity Robots Generate of Instantaneous Motions
| Project/Area Number |
19H02118
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Review Section |
Basic Section 20020:Robotics and intelligent system-related
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| Research Institution | Meijo University |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
新竹 純 電気通信大学, 大学院情報理工学研究科, 准教授 (10821746)
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| Project Period (FY) |
2019-04-01 – 2023-03-31
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| Keywords | ロボティクス / テンセグリティ / 身体性 / ネットワーク / グラフ理論 |
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| Outline of Final Research Achievements |
Animals often display skillful movements involving quick movements, such as the escape behavior of shrimp. Their motions are so fast that they might be difficult to realize as responses to control inputs. To address we develop a bistable tensegrity joint and propose to achieve instantaneous flexion movement. The spine model was chosen among the tensegrity structures because it mimics the spine of animals and because it can be connected to a series of homogeneous segments. By adjusting the angle and length of the rigid members of the basic tensegrity spine, removing a pair of soft members, and shifting the attachment position of one end of the soft members, the bistable tensegrity joint can be achieved. The development of a tensegrity joint consists of the members with weighing about 17 grams, which immediately performs rapid flexion movements against the slightest stimulus.
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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 |
数ある生き物の動作の中でも，我々は素早い運動に着目した．これまでの制御理論では，フィードバックにせよ，フィードフォワードにせよ，必ず入力を必要とし，運動はその結果生じる．しかし，俊敏な運動は，制御のため時間を限りなく小さくする必要がある．
これまで，エアーコンプレッサを用いて，空気圧入力に対する応答として動作が実現された．しかしながら，エビやダンゴムシの逃避をはじめとする反射のような素早い運動は，制御入力に対する応答では実現が難しいほどに速い．故に我々は，制御系に依らない瞬発的な動作の実現を目指すこととした．瞬間的に大きな力を発生させる運動生成のメカニズムにより，制御理論の学問領域を広げる．
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