2023 Fiscal Year Final Research Report
Understanding of Biofunctional Molecules by Robot Kinematics as a Mechanism-constraint Language
| Project/Area Number |
21K03971
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Review Section |
Basic Section 20020:Robotics and intelligent system-related
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| Research Institution | Kanagawa Institute of Technology |
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Principal Investigator |
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| Project Period (FY) |
2021-04-01 – 2024-03-31
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| Keywords | ロボットキネマティクス / ロボット機構学 / 機構拘束 / 生体機能分子 / タンパク質 |
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| Outline of Final Research Achievements |
A general method for modeling proteins and other biofunctional molecules as robotic mechanisms, a method for applying inverse kinematics analysis to molecules, a method for analyzing shape change properties, and a method for analyzing large-scale structural changes were formulated in a form that generalizes robot kinematics in terms of mechanism constraints. These methods were implemented as computer programs and the three-dimensional structural data of various proteins was analyzed. These analyses revealed certain relationships between the number of inverse kinematics solutions and structural features, as well as between shape change properties and protein functions. It was also shown that large-scale conformational changes in several proteins can be represented by a combination of flexible mode motions.
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| Free Research Field |
ロボット機構学
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| Academic Significance and Societal Importance of the Research Achievements |
従来から，生体機能分子とロボット機構の間には構造的なアナロジーがあることは知られていたが，理論体系に設定された暗黙の強い制約（2つの参照リンク間の相対運動を対象とする等）のため，標準的なロボットキネマティクスを使って生体機能分子の解析を行うことは容易ではなかった．本研究の成果は，ロボットキネマティクスに設定された暗黙の強い制約を，機構拘束という枠組みを維持しつつ適切に解除したことを意味する同時に，生体機能分子を理解するという生命科学上の重要な問題に対し，ロボットキネマティクスという新たな視点と新たな道具を提供したことを意味する．
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