| Budget Amount *help |
¥16,380,000 (Direct Cost: ¥12,600,000、Indirect Cost: ¥3,780,000)
Fiscal Year 2017: ¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
Fiscal Year 2016: ¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000)
Fiscal Year 2015: ¥7,410,000 (Direct Cost: ¥5,700,000、Indirect Cost: ¥1,710,000)
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| Outline of Final Research Achievements |
A biped locomotion controller based on the subsumption architecture was developed. It comprises (1) an orientation controller that decides the forward direction in accordance with the terrain information acquired in real-time, (2) a foot navigator that decides the landing point based on the ground profile and fall-prevention condition, and (3) the whole-body controller that coordinates the motions of feet and the center of mass. The overall system consisting of the controller, the robot and the environment forms a coherent dynamical system, the lower layers of which continuously evolve over time under interventions of the upper layers. It enables the robot to feedback the dynamic state of both the robot and the environment at the rate of the order of milliseconds.
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