| Budget Amount *help |
¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2016: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2015: ¥2,860,000 (Direct Cost: ¥2,200,000、Indirect Cost: ¥660,000)
Fiscal Year 2014: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
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| Outline of Final Research Achievements |
A new semi-passive walking robot having human musculoskeletal structure was developed. A unified method to regulate motion characteristics by using multiple actuators was proposed and verified. Its actuation unit was manufactured and used to confirm that it is possible to control its both position and stiffness. It was applied to successful walking experiments using the three-linked planar walking robot developed in this research. Besides, a five-linked walking robot having knee joint was developed and a controller based on CPG (Central Pattern Generator) exploiting information of pose sensor and foot force sensor has been embedded in it. It was observed through computer simulations and experiments that the robot can walk continuously and its motion is stabilized by the sensor information. In addition, a new joint mechanism was designed that can adjust the stiffness of itself not by using antagonism with multiple actuators but by using a special device with a spring and a small motor.
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