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Generation of robust and efficient robot locomotion inside the granular media

Research Project

Project/Area Number 21K14110
Research Category

Grant-in-Aid for Early-Career Scientists

Allocation TypeMulti-year Fund
Review Section Basic Section 20010:Mechanics and mechatronics-related
Research InstitutionRitsumeikan University

Principal Investigator

李 龍川  立命館大学, 理工学部, 助教 (40865648)

Project Period (FY) 2021-04-01 – 2026-03-31
Project Status Granted (Fiscal Year 2021)
Budget Amount *help
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2025: ¥520,000 (Direct Cost: ¥400,000、Indirect Cost: ¥120,000)
Fiscal Year 2024: ¥390,000 (Direct Cost: ¥300,000、Indirect Cost: ¥90,000)
Fiscal Year 2023: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2022: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2021: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Keywordslocomotion / granular media / excitation control / theoretical analysis
Outline of Research at the Start

This research targets on designing and developing a terrain robot that generates enough thrust when surrounded by particles. The locomotor-terrain interaction model will be derived, the physical mechanisms will be investigated, and high-performance locomotion will be eventually achieved.

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Published: 2021-04-28   Modified: 2021-08-30  

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