2015 Fiscal Year Final Research Report
Beyond multi-contact planning
| Project/Area Number |
25280096
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Partial Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Intelligent robotics
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| Research Institution | National Institute of Advanced Industrial Science and Technology |
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Principal Investigator |
Kheddar Abderrahmane 国立研究開発法人産業技術総合研究所, 知能システム研究部門, 国際客員研究員 (90572082)
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| Co-Investigator(Kenkyū-buntansha) |
KANEKO Kenji 国立研究開発法人産業技術総合研究所, 知能システム研究部門, 上級主任研究員 (10356800)
YOSHIDA Eiichi 国立研究開発法人産業技術総合研究所, 知能システム研究部門, 副研究部門長 (30358329)
KANEHIRO Fumio 国立研究開発法人産業技術総合研究所, 知能システム研究部門, 研究グループ長 (70356806)
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| Project Period (FY) |
2013-04-01 – 2016-03-31
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| Keywords | デジタルヒューマンモデル / 多点接触計画 / ダイナミクス / 最適化 |
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| Outline of Final Research Achievements |
In this project we achieved noticeable advances in multi-contact planning as follows:
1) We focused our developments on new functionalities to multi-contact planning, 2) We focused on extending our multi-contact planning and control with a flavor of dynamics and added stabilization with an enhanced quadratic programming (QP) controller, 3) We focused on complex demonstrators such as the ladder climbing and car ingress and participated in the DARPA robotics challenge.
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| Free Research Field |
ロボティクス
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