| 研究課題/領域番号 |
16K12501
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| 研究機関 | 大阪大学 |
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研究代表者 |
ラサミー ポチャラ 大阪大学, サイバーメディアセンター, 助教 (50772448)
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| 研究分担者 |
黒田 嘉宏 大阪大学, 基礎工学研究科, 准教授 (30402837)
新井 健生 大阪大学, 基礎工学研究科, 教授 (90301275)
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| 研究期間 (年度) |
2016-04-01 – 2018-03-31
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| キーワード | hybrid robot / adaptive view / vibration control |
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| 研究実績の概要 |
We have achieved creating a prototype of hybrid robot for steel bridge inspection and maintenance. In order to stabilize our robot in 3D space, we developed a vibration control based on a vibrator to compensate vibration generated from joint actuators when the robot is flying. We completed a simulation of flying performance of a hybrid robot when the vibration was compensated based on LQG control.
Apart from initial plan, we have also developed a novel interface for teleportation that provides a user with environment-adaptive viewpoints that are automatically configured to improve safety and smooth user operation. Our automatic viewpoint generation outperform other view interfaces in terms of ease of control and accuracy of robot operation
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| 現在までの達成度 (区分) |
現在までの達成度 (区分)
2: おおむね順調に進展している
理由
We achieved developing the prototype and vibration control according to plan. Also, we have introduced a new control interface for hybrid robot control.
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| 今後の研究の推進方策 |
We will continue what we have left which are
1. 3D omnidirectional motion planning : currently the simulation have been done. We plan to do the experiment with the real robot by this year.
2. permanent magnetic-based gait generation : we did try different type of magnet and we aim to continue with permanent magnet due to safety issue. The experiment will conducted within this year also.
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| 次年度使用額が生じた理由 |
we incurring amount to be Used Next Fiscal Year since we want to confirm simulation in several conditions before perform real experiment. Therefore, we need to shift grant to be used this year for the purposed of developing new robot prototype.
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| 次年度使用額の使用計画 |
This year plan is as follow. We first going to improve the prototype robot to fit the design we have made in the simulation. Later, we will perform the experiment of magnetic walk and also 3D omnidirectional flying motion.
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