2023 Fiscal Year Annual Research Report
Mechanics of Morphological Compensation, and its Application to Sensing and Control of Soft Robots
| Project/Area Number |
21H01287
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| Research Institution | Japan Advanced Institute of Science and Technology |
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Principal Investigator |
Ho Anhvan 北陸先端科学技術大学院大学, 先端科学技術研究科, 准教授 (60757508)
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| Co-Investigator(Kenkyū-buntansha) |
渋谷 恒司 龍谷大学, 先端理工学部, 教授 (20287973)
高村 禅 北陸先端科学技術大学院大学, 先端科学技術研究科, 教授 (20290877)
都 英次郎 北陸先端科学技術大学院大学, 先端科学技術研究科, 准教授 (70443231)
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| Project Period (FY) |
2021-04-01 – 2024-03-31
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| Keywords | 形態変動 |
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| Outline of Annual Research Achievements |
1) Building a SOFA program for online modeling of the critical change of the soft body, such as trimming, cutting. It has been applied to the whiskered sensor for evaluation of sensing response while there is topological change. 2) Constructing a preliminary Reinforcement learning plugin for the SOFA environment, from which the morphological optimization can be elaborated.
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| Research Progress Status |
令和5年度が最終年度であるため、記入しない。
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| Strategy for Future Research Activity |
令和5年度が最終年度であるため、記入しない。
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