| Co-Investigator(Kenkyū-buntansha) |
望山 洋 筑波大学, システム情報系, 教授 (40303333)
郡司 芽久 東洋大学, 生命科学部, 助教 (80833839)
安藤 潤人 立命館大学, 情報理工学部, 助教 (50899797)
國吉 康夫 東京大学, 大学院情報理工学系研究科, 教授 (10333444)
|
|---|
| Budget Amount *help |
¥172,640,000 (Direct Cost: ¥132,800,000、Indirect Cost: ¥39,840,000)
Fiscal Year 2022: ¥37,440,000 (Direct Cost: ¥28,800,000、Indirect Cost: ¥8,640,000)
Fiscal Year 2021: ¥38,350,000 (Direct Cost: ¥29,500,000、Indirect Cost: ¥8,850,000)
Fiscal Year 2020: ¥38,090,000 (Direct Cost: ¥29,300,000、Indirect Cost: ¥8,790,000)
Fiscal Year 2019: ¥35,620,000 (Direct Cost: ¥27,400,000、Indirect Cost: ¥8,220,000)
Fiscal Year 2018: ¥23,140,000 (Direct Cost: ¥17,800,000、Indirect Cost: ¥5,340,000)
|
|---|
| Outline of Final Research Achievements |
Focusing on the role of the flexible elastic continuum found in animal spinal columns, we aimed to develop a framework for designing and controlling artificial spinal columns from the perspective of robotics. In particular, we focused on the biomechanics of the neck, which is the upper part of the spinal column, and developed the RobOstrich arm, a manipulator based on the ostrich's neck. We clarified the head raising motion pattern of the tendon-driven robot arm and proposed a method to realize reaching and head stabilization by reinforcement learning.
|
