2023 Fiscal Year Final Research Report
Generating Whole-Body Motion of a Robot Utilizing the Interaction Between a Body with Torso Joints and the Environment as Computational Resources
| Project/Area Number |
22K14216
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| Research Category |
Grant-in-Aid for Early-Career Scientists
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| Allocation Type | Multi-year Fund |
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| Review Section |
Basic Section 20020:Robotics and intelligent system-related
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| Research Institution | Kindai University (2023)
Meiji University (2022) |
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Principal Investigator |
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| Project Period (FY) |
2022-04-01 – 2024-03-31
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| Keywords | バイオインスパイア―ドロボット / 脚歩行ロボット |
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| Outline of Final Research Achievements |
In this study, we focused on the continuous joint control of a quadrupedal walking robot and constructed torso joints with viscoelastic properties. This enables the robot to undergo trunk oscillations and allows for parameter adjustments during walking, greatly contributing to achieving our research objectives. Furthermore, by considering unresolved issues and the results of prototype construction, we conduct on-site experiments and computer simulations to enhance the robot's whole-body motion and performance. Through the creation of simulation models and environmental testing, concrete approaches toward the practical application of the robot are becoming clearer.
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| Free Research Field |
ロボット工学
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| Academic Significance and Societal Importance of the Research Achievements |
本研究では、連続関節で構成された四脚歩行ロボットの制御手法を開発しました。この技術により、柔軟かつ自在な歩行が可能となり、災害救助や医療支援などの人道的任務に活用される可能性があります。さらに、ロボットの実用化に向けた技術開発や性能向上に取り組むことで、生活を支援する新たなアシスト技術の創出に貢献することが期待されます。
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