Optimization of Walking considering Gravity Environment for Integrated Limb Mechanism

2015 Fiscal Year Final Research Report

• Project/Area Number: 26730138
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Intelligent robotics
• Research Institution: Osaka City University
• Principal Investigator: Takubo Tomohito 大阪市立大学, 大学院工学研究科, 教授 (80397695)
• Project Period (FY): 2014-04-01 – 2016-03-31
• Keywords: 脚ロボット / 知能ロボット / 歩行計画 / 遠隔操作

Outline of Final Research Achievements

The three important technique for walking on the anti-gravitational environment was developed for hexapod robots. First, the transition motion for walking beyond the edge of the structural objects was proposed. The proposed algorithm provides the minimum steps for the walking. Secondly, the foot step planning algorithm for walking through the cluttered environment was proposed. Thirdly, for the problem of the collision with robot body at the blind area of attached external sensors, the adaptive walking motion control method was proposed. The three techniques were implemented to the real hexapod robot and the effectiveness was shown.

Free Research Field

ロボット工学