2011 Fiscal Year Final Research Report
Development of Working Six-Legged Robots Capable of Switching Three Modes
| Project/Area Number |
21560256
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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 | Yamagata University |
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Principal Investigator |
INOUE Kenji 山形大学, 大学院・理工学研究科, 教授 (40203228)
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| Project Period (FY) |
2009 – 2011
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| Keywords | 6脚作業移動ロボット / 6脚歩行 / 4脚歩行 / 直立歩行 / 障害物回避 / 段差昇降 / 急斜面登り / 物体押し搬送 |
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| Research Abstract |
A working six-legged robot which can switch three modes is developed. Three modes enhance mobility and working ability of the robot. The following functions are implemented and tested. In six-leg mode, omni-directional walking with six legs, obstacle avoidance with ultrasonic sensors, climbing up/down steps and climbing up steep slope. In horizontal four-leg two-arm mode where two front legs are used as arms with the body horizontal to the ground, omni-directional walking with four legs and low-level manipulation with two arms. In vertical four-leg two arm mode where two upper legs are used as arms with the body vertical to the ground, walking upright with four legs, high-level manipulation with two arms and large object pushing.
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