Development of Robot Mechanism for Agility and Dexterity

2023 Fiscal Year Final Research Report

• Project/Area Number: 21K03965
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Review Section: Basic Section 20020:Robotics and intelligent system-related
• Research Institution: Tokyo Metropolitan University
• Principal Investigator: Takesue Naoyuki 東京都立大学, システムデザイン研究科, 教授 (70324803)
• Co-Investigator(Kenkyū-buntansha): 望山 洋 筑波大学, システム情報系, 教授 (40303333) ; 山田 篤史 滋賀医科大学, 医学部, 特任准教授 (40534334) ; 藤本 英雄 東京都立大学, システムデザイン研究科, 特任教授 (60024345)
• Project Period (FY): 2021-04-01 – 2024-03-31
• Keywords: ロボット / 移動 / 跳躍 / 飛行

Outline of Final Research Achievements

The objective of this research was to investigate the locomotor functions of agility and dexterity observed in birds such as sparrows and crows, as well as in small animals such as mice and killifish, and to develop robots that integrate movement, leaping, swimming, and flight, and operate with resilience in natural environments. The development of actuators, reduction gears, a gliding flight vehicle, and a jumping mechanism has led to the establishment of several elemental technologies, including the optimization of the flapping pattern of the wings. In the future, we intend to develop a variety of flight modes and movement methods. Some of the findings of this research have been presented at academic conferences and published in academic journals.

Free Research Field

ロボット工学，メカトロニクス

Academic Significance and Societal Importance of the Research Achievements

本研究は，近年世界的にも注目されているBiologically Inspired Roboticsの分野であり，複数の機能を統合し，動物のような運動性能を持つロボットの開発を目指した点で学術的意義がある．軽量で高出力のアクチュエータや滑空飛行を可能にするロボット機体，跳躍と飛行の融合などの開発は，次世代ドローンとして自然環境下での多様な飛行形態を実現するものと期待される．