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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 – 2022-03-31
Project Status Completed (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)
Keywordsunderactuation / locomotion / dynamics / 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.

Outline of Annual Research Achievements

I investigate locomotion robots with entrainment-based control and underactuated locomotion systems, which contribute to the control system design and theoretical analysis of this project. I developed simple crawling robot, which contributes to the hardware design of this project.
I also conducted bayesian optimization on a crawling robot.

Report

(1 results)
  • 2021 Annual Research Report
  • Research Products

    (4 results)

All 2022

All Presentation (4 results) (of which Int'l Joint Research: 4 results)

  • [Presentation] A Mathematical Design for a Novel Walking Support Device that Leverages Passive Dynamics and Coupling Effects2022

    • Author(s)
      Longchuan Li
    • Organizer
      2022 ieee international conference on robotics and automation
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Rhythm generation and coordination of a three-link snake robot with torsion spring2022

    • Author(s)
      Yiming Cao
    • Organizer
      The Twenty-Seventh International Symposium on Artificial Life and Robotics 2022 (AROB 27th 2022),
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Improving the Stability of Quasi-Passive DynamicWalking by Utilizing Spring Mechanism2022

    • Author(s)
      Keiichiro Ueno
    • Organizer
      The Twenty-Seventh International Symposium on Artificial Life and Robotics 2022 (AROB 27th 2022),
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Emergence of undulation gait based on embodied position controller and filter2022

    • Author(s)
      Longchuan Li
    • Organizer
      Bulletin of the American Physical Society
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research

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Published: 2021-04-28   Modified: 2022-12-28  

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