On a flat distributed architecture application aiming to realize a rubble walker robot
| Project/Area Number |
19560257
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Wakayama University |
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Principal Investigator |
TOKUDA Kenichi Wakayama University, システム工学部, 助教 (60335411)
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| Co-Investigator(Kenkyū-buntansha) |
MIWA Masafumi 徳島大学, 大学院・ソシオテクノサイエンス研究部, 講師 (40283957)
MURATA Yorinobu 和歌山大学, システム工学部, 准教授 (50283958)
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| Project Period (FY) |
2007 – 2009
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| Project Status |
Completed (Fiscal Year 2009)
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| Budget Amount *help |
¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
Fiscal Year 2009: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2008: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2007: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
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| Keywords | 人間機械システム / レスキューロボット / 瓦礫上踏破ロボット / 水平分散アーキテクチャ / ロボットミドルウェア |
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| Research Abstract |
We designed of a robot software system "Flat Distributed Network architecture" (FDNet) for the extension of infrastructure as a kind of robot middle ware by using knowledge of cognitive robotics. Then we contributed a flier movement in the body aims to extend the flight of the body. As a concrete result, for the expansion of the body extended flat distributed architecture work as part of the external FDNet, each element of the architecture features a distributed control of multiple independent flat completion FDNet-CM. The aerial flying system in the body, and control support system using a newly developed system control board to clarify the parameters for the necessary velocity feedback, the feedback control system of radio control helicopter support realized.
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Report
(4 results)
Research Products
(33 results)
