Development of an indoor / outdoor omnidirectional vehicle that can move like a car like a person and elucidation of foot operability

2021 Fiscal Year Final Research Report

• Project/Area Number: 19H02053
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Review Section: Basic Section 18040:Machine elements and tribology-related
• Research Institution: Kyoto University
• Principal Investigator: KOMORI Masaharu 京都大学, 工学研究科, 教授 (90335191)
• Co-Investigator(Kenkyū-buntansha): 寺川 達郎 京都大学, 工学研究科, 助教 (10847982)
• Project Period (FY): 2019-04-01 – 2022-03-31
• Keywords: 全方向移動 / 乗り物 / 足操作性

Outline of Final Research Achievements

A system was constructed to quantitatively evaluate the characteristics of multi-degree-of-freedom operation of foot. Through experiments, the foot operation was quantitatively evaluated in terms of the accuracy of the movement path. By investigating the movement characteristics of foot, it was clarified that there is a difference between the intended movement and the actual movement. Considering the movement characteristics of foot, an operation method to give appropriate commands was constructed, and verification experiments were conducted. For the proposed omnidirectional movement mechanism, we investigated the necessary conditions, analyzed the motion state for cases where the movement speed was changed, manufactured an experimental device, and conducted verification experiments.

Free Research Field

機構学

Academic Significance and Societal Importance of the Research Achievements

近距離の快適な移動が社会から求められている。このため、屋内をスムーズにどの方向にも移動でき、屋外や道路での移動もできる1人用移動装置が必要とされている。そこで本研究では、屋内での全方向移動から、高い速度での道路走行まで、人のように車のように移動できる屋内屋外両用全方向移動乗り物を実現することを目的として研究を行った。また、研究代表者が提案した全方向移動機構の成立条件の分析や足操作性の調査など、学術的な調査を行った。