2022 Fiscal Year Final Research Report
Multi-modal locomotion and extensive manipulation ability by multi-legged aerial robot with integrated perception and adaptive control system
Project/Area Number |
19H04188
|
Research Category |
Grant-in-Aid for Scientific Research (B)
|
Allocation Type | Single-year Grants |
Section | 一般 |
Review Section |
Basic Section 61050:Intelligent robotics-related
|
Research Institution | The University of Tokyo |
Principal Investigator |
Moju Zhao 東京大学, 大学院工学系研究科(工学部), 特任講師 (30825378)
|
Project Period (FY) |
2019-04-01 – 2023-03-31
|
Keywords | 多肢型飛行ロボット / 知覚統合システム / 環境適応制御 / 空中操作能力 |
Outline of Final Research Achievements |
The purpose of this study is to achieve the aerial/terrestrial hybrid locomotion and extensive manipulation ability by multi-legged aerial robot. We develop the proposed multi-legged aerial robot from three aspects: (1) fundamental mechanical design for the multi-legged model that an individual thrust unit is embedded in each link module; (2) integrated perception system that is based on distributed vision, force/torque, and imu sensors embedded in the whole body; (3) adaptive control method that actively considers the force from the interaction with the environment. In this study, we eventually achieved the aerial/terrestrial hybrid locomotion by a prototype of four legged model and the advanced aerial manipulation ability by multi-link models such as the valve operation in midair.
|
Free Research Field |
ロボット工学
|
Academic Significance and Societal Importance of the Research Achievements |
本研究成果は多関節構造を有するロボットの移動・操作といった基本的な行動生成論の確立に推力という付加要素を加えた新しい学術分野と捉えることができ,これは飛行ロボット分野と操作能力を有する多足型ロボット分野の二つの枠組みを融合したものと考えられる.したがって,ロボットの身体構成、知覚構築、行動制御という基礎理論の一般化と体系化は本研究で扱う地上と空中の二つのフィールドにとどまらず,水中移動ロボットや宇宙ロボット分野への波及効果も期待できる.また,空中作業に主眼を置く本研究成果は高所作業の自動化といったより高次な産業革新の促進を可能にし,サステナブルな社会の実現に貢献していると考える.
|