Super-distribution of motor intelligence realized by mechanical reflex devices that integrate the three elements of "drive, measurement, and control"

2021 Fiscal Year Final Research Report

• Project/Area Number: 20K14695
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 20020:Robotics and intelligent system-related
• Research Institution: Osaka University
• Principal Investigator: Yoichi Masuda 大阪大学, 工学研究科, 助教 (70849760)
• Project Period (FY): 2020-04-01 – 2022-03-31
• Keywords: ロボット制御 / 反射 / 神経生理学 / 筋骨格ロボット / 空気圧 / 人工筋肉

Outline of Final Research Achievements

In this study, we developed a new robot design theory in which we embedded mechanical reflex devices in each part of the robot without using any sensors or microcontrollers to generate motion such as running. One of the main results of this research is the development of a new reflex device called an artificial neural device, in addition to the artificial muscles and receptors developed in the past. This device has the ability to adjust the pneumatic force flowing through the robot according to the force stimuli the robot receives from the environment and the degree of activation of other artificial muscles. The new musculoskeletal robot using this device has succeeded in moving eight artificial muscles of both legs, including antagonist muscles, in a coordinated manner and achieved balance control in a two-dimensional plane without a computer.

Free Research Field

ロボティクス

Academic Significance and Societal Importance of the Research Achievements

本研究ではセンサやマイコンを一切用いない機械式の反射デバイスをロボット各部に埋め込むことで，運動を創発する新たなロボット設計論の構築を行った．動物のもつ反射制御則を機械式のデバイスで再現することで，走行フォームの創発や簡易なバランス制御を達成した．これらの成果は，従来の計算機主体のロボット設計論を刷新し，環境および身体の動特性を活用する新たなロボット制御を確立していくための重要なマイルストーンになることが期待される．