|Budget Amount *help
¥116,480,000 (Direct Cost: ¥89,600,000、Indirect Cost: ¥26,880,000)
Fiscal Year 2011: ¥14,560,000 (Direct Cost: ¥11,200,000、Indirect Cost: ¥3,360,000)
Fiscal Year 2010: ¥21,580,000 (Direct Cost: ¥16,600,000、Indirect Cost: ¥4,980,000)
Fiscal Year 2009: ¥34,450,000 (Direct Cost: ¥26,500,000、Indirect Cost: ¥7,950,000)
Fiscal Year 2008: ¥29,250,000 (Direct Cost: ¥22,500,000、Indirect Cost: ¥6,750,000)
Fiscal Year 2007: ¥16,640,000 (Direct Cost: ¥12,800,000、Indirect Cost: ¥3,840,000)
We developed a musculoskeletal biped robot equipped with high-thrust, gearless direct-drive spiral motors. Since the spiral motor system does not utilize reduction gears, it is free from drawbacks such as backrush, lost motion, and friction. In this research, these advantages were enhanced and the control system with high precision, high bandwidth, and high dynamic range was realized. In addition, flexible motion control against environmental external force was achieved.