2010 Fiscal Year Final Research Report
Development of Motion Planning Method for Multi-DOF Robots Based on Distributed Architecture and Discrete Modeling
| Project/Area Number |
21860042
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| Research Category |
Grant-in-Aid for Research Activity Start-up
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| Allocation Type | Single-year Grants |
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| Research Field |
Control engineering
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| Research Institution | Nagoya University |
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Principal Investigator |
TAZAKI Yuichi Nagoya University, 工学研究科, 助教 (10547433)
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| Project Period (FY) |
2009 – 2010
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| Keywords | 動作計画 / 多自由度ロボット / 離散モデリング |
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| Research Abstract |
This research aims at the development of control methods for autonomous robots with large degrees of freedom, founded on distributed architecture and discrete modeling of dynamical systems. Motion planning based on the discretization of configuration space is able to cope with complex environments but it is applicable only to relatively small dimensions. Hierarchical architecture, which is widely accepted in the control of large-scale systems, is not able to fully exploit the multi-DOF characteristic of the robot. The goal of research is to develop a new control framework which combines the advantages of both discrete modeling and distributed control.
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