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Clarification of potential significance of endoskeleton's muscular arrangement and its appreciation for motion-generation of Robotics

Research Project

Project/Area Number 26330303
Research Category

Grant-in-Aid for Scientific Research (C)

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

Principal Investigator

Hitoshi Kino  福岡工業大学, 工学部, 教授 (50293816)

Co-Investigator(Kenkyū-buntansha) 田原 健二  九州大学, 工学研究院, 准教授 (80392033)
Research Collaborator MATSUTANI Yuki  熊本高等専門学校, 機械知能システム工学科, 助教
OCHI Hiroaki  山口東京理科大学, 工学部, 助教
Project Period (FY) 2014-04-01 – 2017-03-31
Project Status Completed (Fiscal Year 2016)
Budget Amount *help
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2016: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2015: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2014: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Keywords筋内力制御 / 筋配置 / 収束条件 / 位置制御 / リアプノフの安定解析 / 収束条件の解明 / 設計法の提案 / 人工筋肉のモデル化 / 収束性 / ヘッセ行列 / 幾何学条件 / リアプノフ関数
Outline of Final Research Achievements

The one of the characteristic of a vertebrate animal, like a human, is the endoskeletal structure. This structure enables motion generation by moving muscles; adjusting internal force among the muscles, joint stiffness can be changed. In the previous research, it pointed out that motion control can be achieved without any sensory feedback and complicated real-time calculation, when muscular internal force balancing at a desired posture is given to the endoskeletal structure as step input.
However, the motion convergence strongly depends on the muscular arrangement; the mathematical condition to converge at a desired posture was not clarified.
This study has clarified the condition of the motion convergence, and assesses the conditions by simulation.

Report

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

Research Products

(20 results)

All 2017 2016 2015 2014 Other

All Int'l Joint Research (1 results) Journal Article (5 results) (of which Int'l Joint Research: 1 results,  Peer Reviewed: 4 results,  Open Access: 2 results,  Acknowledgement Compliant: 1 results) Presentation (9 results) (of which Int'l Joint Research: 4 results) Remarks (5 results)

  • [Int'l Joint Research] ノッティンガム大学(英国)

    • Related Report
      2016 Annual Research Report
  • [Journal Article] Basic Study of Soft Actuator Using Anisotropic Gel Hybridized with Nanosheet Liquid Crystal: Analysis of Heat Characteristics and Length Control2017

    • Author(s)
      H. Kino, N. Samrejfuangfoo, K. Tsuda, T. Kato, H. Fujioka
    • Journal Title

      Procedia Computer Science

      Volume: 105 Pages: 62-67

    • DOI

      10.1016/j.procs.2017.01.199

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Prototype of Tensegrity Robot with Nine Wires for Switching Locomotion and Its Calculation Method of Balancing Internal Force2017

    • Author(s)
      H. Kino, Y. Matsutani, S. Katakabe, H. Ochi
    • Journal Title

      Journal of Procedia Computer Science

      Volume: 105 Pages: 1-8

    • DOI

      10.1016/j.procs.2017.01.179

    • Related Report
      2016 Annual Research Report
    • Open Access
  • [Journal Article] 2リンク6筋を有する筋骨格システムにおけるフィードフォワード位置決めのための筋配置条件2016

    • Author(s)
      越智裕章,木野仁,田原健二,松谷祐希
    • Journal Title

      日本ロボット学会誌

      Volume: 34 Pages: 133-142

    • NAID

      130005145397

    • Related Report
      2015 Research-status Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] むだ時間を含む感覚フィードバックと筋内力フィードフォワードの相補的組み合わせによる筋骨格アームの位置制御2016

    • Author(s)
      松谷 祐希, 田原 健二, 木野 仁, 越智 裕章, 山本 元司
    • Journal Title

      日本ロボット学会誌

      Volume: 34 Pages: 143-152

    • NAID

      130005145385

    • Related Report
      2015 Research-status Report
    • Peer Reviewed
  • [Journal Article] Mechanism and Control of Parallel-Wire Driven System2015

    • Author(s)
      Hitoshi Kino and Sadao Kawamura
    • Journal Title

      J. Robot. Mechatron.

      Volume: 27 Issue: 6 Pages: 599-607

    • DOI

      10.20965/jrm.2015.p0599

    • NAID

      130007671077

    • ISSN
      0915-3942, 1883-8049
    • Related Report
      2015 Research-status Report
    • Peer Reviewed / Int'l Joint Research
  • [Presentation] An experimental study on effect of biarticular muscles in an antagonistically actuated robot arm2016

    • Author(s)
      Tetsuya Morizono, Kenji Tahara, and Hitoshi Kino
    • Organizer
      International Symposium on Artificial Life and Robotics
    • Place of Presentation
      Beppu, Japan
    • Year and Date
      2016-01-20
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] Determination Method of Tendon Arrangement using Genetic Algorithm for Feedforward Positioning of Musculoskeletal System2015

    • Author(s)
      Hiroaki Ochi, Hitoshi Kino, Kenji Tahara, Yuki Matsutani
    • Organizer
      International Symposium on Stochastic Systems Theory and Its Applications
    • Place of Presentation
      Hawaii, USA
    • Year and Date
      2015-12-05
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] Geometric conditions for feedforward positioning of musculoskeletal tendon-driven structure2015

    • Author(s)
      Hiroaki Ochi, Hitoshi Kino, Kenji Tahara, Yuki Matsutani
    • Organizer
      Annual Conference of the IEEE Industrial Electronics Society
    • Place of Presentation
      Yokohama, Japan
    • Year and Date
      2015-10-09
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] Experimental Investigation of Contribution of Biarticular Actuation to Mappings between Sensory and Motor Spaces2015

    • Author(s)
      Tetsuya Morizono, Kenji Tahara, Hitoshi Kino
    • Organizer
      Annual Conference of the IEEE Industrial Electronics Society
    • Place of Presentation
      Yokohama, Japan
    • Year and Date
      2015-10-09
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] 形状記憶合金アクチュエータの動向2014

    • Author(s)
      石橋良太,田原健二,木野仁
    • Organizer
      第15回計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      東京ビックサイト
    • Year and Date
      2014-12-15 – 2014-12-17
    • Related Report
      2014 Research-status Report
  • [Presentation] 筋内力フィードフォワードとむだ時間を含む視覚フィードバックの可変比率による複合位制御2014

    • Author(s)
      松谷祐希, 田原健二, 木野仁, 越智裕章, 山本元司
    • Organizer
      第32回日本ロボット学術講演会
    • Place of Presentation
      福岡市・九州産業大学
    • Year and Date
      2014-09-05 – 2014-09-06
    • Related Report
      2014 Research-status Report
  • [Presentation] パラレルワイヤ駆動システムの逆運動学近似における手先位置の誤差評価2014

    • Author(s)
      木野仁,大久保暢浩,吉武翼,越智裕章,池田明之
    • Organizer
      第32回日本ロボット学術講演会
    • Place of Presentation
      福岡市・九州産業大学
    • Year and Date
      2014-09-04 – 2014-09-06
    • Related Report
      2014 Research-status Report
  • [Presentation] 弾性体受動要素を用いた流速変化に適応するためのヒレ機構2014

    • Author(s)
      石橋良太,小田隆彦,奥田竜次,梅田勝矢,田原健二,木野仁,児島晃
    • Organizer
      第32回日本ロボット学術講演会
    • Place of Presentation
      福岡市・九州産業大学
    • Year and Date
      2014-09-04 – 2014-09-06
    • Related Report
      2014 Research-status Report
  • [Presentation] 多関節多筋の筋骨格システムにおける フィードフォワード位置決め制御の収束安定条件2014

    • Author(s)
      越智裕章,木野 仁,田原健二,松谷祐希
    • Organizer
      第32回日本ロボット学術講演会
    • Place of Presentation
      福岡市・九州産業大学
    • Year and Date
      2014-09-04 – 2014-09-06
    • Related Report
      2014 Research-status Report
  • [Remarks] 木野研究室の主な研究業績

    • URL

      http://www.fit.ac.jp/~kino/japanese/achievements_j/achievements_j.html

    • Related Report
      2016 Annual Research Report
  • [Remarks] 木野研究室の主な研究テーマの紹介

    • URL

      http://www.fit.ac.jp/~kino/japanese/theme_j/theme_j.html

    • Related Report
      2016 Annual Research Report
  • [Remarks] 主な研究業績

    • URL

      http://www.fit.ac.jp/~kino/japanese/achievements_j/achievements_j.html

    • Related Report
      2015 Research-status Report
  • [Remarks] 木野研究室 研究テーマ

    • URL

      http://www.fit.ac.jp/~kino/japanese/theme_j/theme_j.html

    • Related Report
      2014 Research-status Report
  • [Remarks] 木野研究室 研究業績

    • URL

      http://www.fit.ac.jp/~kino/japanese/achievements_j/achievements_j.html

    • Related Report
      2014 Research-status Report

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Published: 2014-04-04   Modified: 2022-02-16  

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