2002 Fiscal Year Final Research Report Summary
Research on Multi-Leg Gait Design and Robot Development
| Project/Area Number |
12650254
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Kogakuin University |
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Principal Investigator |
MIURA Hirofumi Kogakuin University, Mechanical Systems, Professor, 工学部, 教授 (50010682)
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| Project Period (FY) |
2000 – 2002
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| Keywords | legged robot / multi-legged robot / gait design / insect robot / cricket robot / hexapod robot |
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| Research Abstract |
1.Development and analysis of observation system for hexapod's gait : The best way to recognize the algorithm of insects' walking is to observe very precisely actual gaits. From these data, we can understand how they are building up the oputimum walking pattern. We added some additional abilities to the treadmill. (1) Insects walk at the center of a treadmill (2) A plane view and a side view can be obtained simultaneously using a mirror. (3) Walking pattern on a rough terrain can be observed by putting small pieces on the treadmill. In order to get good information about bending angles of legs of insect, small white marks were put at several points on legs
2.Design and development of a hexapod robot : Two kinds of robot were developed. One has electric servo motors as an actuator. The other has pneumatic actuators. Both robots walk like actual insects, although gaits are not completely coincides with real insects. Judging from this result, it can be said that basic characteristics of the gait of insect are reproduced on both robots
3.Application of insect-model robots : Hexapod robots are statically stable and can walk easily on rough terrain. They can be applied for information gathering at a stricken district
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Research Products
(22 results)
