| Project/Area Number |
25630175
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| Research Category |
Grant-in-Aid for Challenging Exploratory Research
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| Allocation Type | Multi-year Fund |
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| Research Field |
Control engineering/System engineering
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| Research Institution | Tohoku University |
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Principal Investigator |
ISHIGURO Akio 東北大学, 電気通信研究所, 教授 (90232280)
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| Co-Investigator(Renkei-kenkyūsha) |
KANO Takeshi 東北大学, 電気通信研究所, 助教 (80513069)
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| Project Period (FY) |
2013-04-01 – 2015-03-31
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| Project Status |
Completed (Fiscal Year 2014)
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| Budget Amount *help |
¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2014: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Fiscal Year 2013: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
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| Keywords | マルチテレストリアルロボット / 自律分散制御 / ヒラムシ / ヘビ / 生物ロコモーション |
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| Outline of Final Research Achievements |
In this study, we aimed to develop multi-terrestrial robots that can exhibit various locomotion patterns such as crawling, swimming, and flying in response to the environment. We tackled this issue by focusing on a simple principle that animals move by exploiting the various features in their surrounding environments as scaffolds. Our achievements were twofold: 1) We developed a sheet-like robot that can both crawl on the ground and swim in water, inspired by the locomotion of a flatworm having a sheet-like body structure. 2) Through a simulation study, we found a common control principle underlying crawling of land snakes and swimming of sea snakes.
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