Generation of robust and efficient robot locomotion inside the granular media

• Project/Area Number: 21K14110
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 20010:Mechanics and mechatronics-related
• Research Institution: Ritsumeikan 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: ¥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)
• Keywords: locomotion / 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.