| Project/Area Number |
15206050
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| Research Category |
Grant-in-Aid for Scientific Research (A)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Control engineering
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| Research Institution | Yokohama National University |
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Principal Investigator |
KAWAMURA Atsuo Yokohama National University, Faculty of Engineering, Division of Electrical and Computer Engineering, Professor, 大学院工学研究院, 教授 (80186139)
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| Co-Investigator(Kenkyū-buntansha) |
FUJIMOTO Yasutaka Yokohama National University, Faculty of Engineering, Division of Electrical and Computer Engineering, Associate Professor, 大学院工学研究院, 助教授 (60313475)
ZHU Chi Yokohama National University, Faculty of Engineering Division of Electrical and Computer Engineering, Research Associate, 大学院工学研究院, 助手 (20345482)
KAJITA Shuji National Institute of Advanced Industrial Science and Technology, Intelligent Systems Research Institute, Chief Researcher, 知能システム研究部門, 主任研究員 (90356767)
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| Project Period (FY) |
2003 – 2006
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| Project Status |
Completed (Fiscal Year 2006)
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| Budget Amount *help |
¥46,540,000 (Direct Cost: ¥35,800,000、Indirect Cost: ¥10,740,000)
Fiscal Year 2006: ¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2005: ¥5,200,000 (Direct Cost: ¥4,000,000、Indirect Cost: ¥1,200,000)
Fiscal Year 2004: ¥27,300,000 (Direct Cost: ¥21,000,000、Indirect Cost: ¥6,300,000)
Fiscal Year 2003: ¥10,140,000 (Direct Cost: ¥7,800,000、Indirect Cost: ¥2,340,000)
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| Keywords | Biped Humanoid Robot / Fast Walking / Running / 2足歩行ロボット / 2足走行ロボット / 3Dシミュレータ / ジャンプロボット / 低剛性アクチュエータ / 高速2足歩行 / 3Dシミュレエータ / ビジュアルサーボ / ZMPセンサ |
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| Research Abstract |
Aiming to implement fast walking and running, two kinds of robots, a planar one-leg jumping robot KEN-2, and a humanoid biped robot MARI-3 were developed. Stable biped walking, one-leg jumping, and two-leg jumping are implemented.
1.Planar One-Leg Jumping Robot KEN-2
Jumping can be considered as a basic element of biped running. KEN-2, a 3 DOF planar jumping robot, was developed. Its height is 800[mm] and its weight is 14.5[kg]. KEN-2 is considered as a combination of a spring and one mass point, and its detected force at the foot is controlled to be equal to that of the equivalent spring-mass model. A 4[cm] height, 100[ms] long one-leg jumping is achieved.
2.Biped Fast Walking and Running Robot MARI-3
Towards fast walking and running, a humanoid biped robot MARI-3 was developed. MARI-3 has totally 13 DOF, one DOF of waist joint in yaw axis, and 12 DOF for two legs, and each leg has 6 DOF. The height of MARI-3 is about 1216[mm] and its weight about 38[kg]. With MARI-3, a biped walking, one-leg and two-leg jumping were implemented as basic and verification experiments for fast walking and running. The validity of the robot was confirmed. The biped walking speed is 1.2[km/h]. MARI-3's one-leg jumping time (the time of MARI-3 in the air) is about 110[ms] and its jumping height is about 4[cm]. MARI-3's two-leg jumping time even reaches 150[ms]. As far as we know, that is the longest and highest jumping up to now in the world.
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