2012 Fiscal Year Final Research Report
Parameter design in decentralized event-driven walk control for centipede-like multi-legged robot
| Project/Area Number |
22760184
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Nagoya University |
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Principal Investigator |
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| Project Period (FY) |
2010 – 2012
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| Keywords | 知能機械学 / 機械システム / ロボティクス / 多脚歩行 / 分散システム |
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| Research Abstract |
The purpose of this research is to realize a centipede-like multi-legged robot which can explore in complex irregular terrains. In order to realize the purpose, we developed a methodology capable of designing both control parameters of decentralized event-driven walk control, called Follow-the-Contact Point (FCP) gait control, and construction parameters of the robot itself. The design method is based on formal verification and can derive group of parameters which can satisfy design specifications in realistic time in spite of the complex design object. In this research, we verified its usefulness through experiments using a physical simulator and an actual robot.
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