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Development of mecanum-leg hybrid robot for nuclear power plant

Research Project

Project/Area Number 26330300
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Intelligent robotics
Research InstitutionChiba Institute of Technology

Principal Investigator

YONEDA KAN  千葉工業大学, 先進工学部, 教授 (70221679)

Project Period (FY) 2014-04-01 – 2017-03-31
Project Status Completed (Fiscal Year 2016)
Budget Amount *help
¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2016: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2015: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2014: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Keywordsロボット / 歩行 / 全方向移動 / 原子力発電所 / ロボティクス / 4足歩行 / 原子力発電所用
Outline of Final Research Achievements

Two concepts of designing a high step climbable quadruped, effective for the use in a nuclear power plant, are proposed. Front-rear cross-leg configuration that can equip longer leg limb with wide movable range on a compact body. Hybrid configuration of 2-joint limb, reduced from normal 3-joint, with omnidirectional mecanum-wheel on its foot can make long high stiffness leg in lighter weight. Effectiveness of these concepts are verified by experimental machine, and these can be new designing principles of high performance quadruped robot.

Report

(4 results)
  • 2016 Annual Research Report   Final Research Report ( PDF )
  • 2015 Research-status Report
  • 2014 Research-status Report

Research Products

(6 results)

All 2017 2016 2015 2014

All Presentation (6 results)

  • [Presentation] 高段差乗り越えが可能な脚メカナムハイブリッドロボット2017

    • Author(s)
      米田完
    • Organizer
      日本設計工学会 2017年度 春季研究発表講演会
    • Place of Presentation
      千葉工業大学(千葉県習志野市)
    • Year and Date
      2017-05-20
    • Related Report
      2016 Annual Research Report
  • [Presentation] 脚の可動範囲を重ねた4脚歩行ロボットの提案2017

    • Author(s)
      瀬戸祐介,米田完
    • Organizer
      第22回ロボティクスシンポジア
    • Place of Presentation
      磯部温泉磯部ガーデン(群馬県安中市)
    • Year and Date
      2017-03-15
    • Related Report
      2016 Annual Research Report
  • [Presentation] 半円型全方向車輪を用いた除染ロボットの開発2016

    • Author(s)
      青山雅規,米田 完
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2015
    • Place of Presentation
      京都市勧業館(京都府京都市)
    • Year and Date
      2016-05-19
    • Related Report
      2015 Research-status Report
  • [Presentation] 脚車輪型ハイブリッド移動ロボットにおける脚車輪荷重分担率の導出およびそれを利用した制御2016

    • Author(s)
      上野吾雅人,米田 完
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2015
    • Place of Presentation
      京都市勧業館(京都府京都市)
    • Year and Date
      2016-05-19
    • Related Report
      2015 Research-status Report
  • [Presentation] 9自由度6足歩行ロボットの開発2015

    • Author(s)
      佐々木優治,米田 完
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2015
    • Place of Presentation
      京都市勧業館(京都府京都市)
    • Year and Date
      2015-05-19
    • Related Report
      2015 Research-status Report
  • [Presentation] 追い越しクロール歩容が可能な4脚歩行ロボットの開発2014

    • Author(s)
      瀬戸悠介,若本純弥,米田完
    • Organizer
      第32回日本ロボット学会学術講演会
    • Place of Presentation
      九州産業大学(福岡県福岡市)
    • Year and Date
      2014-09-04 – 2014-09-06
    • Related Report
      2014 Research-status Report

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Published: 2014-04-04   Modified: 2018-03-22  

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