Dynamic Robot Motion Control Method Dexterously Utilizing Elastic, Inertial, and Gravitational Energies

2014 Fiscal Year Final Research Report

• Project/Area Number: 24680021
• Research Category: Grant-in-Aid for Young Scientists (A)
• Allocation Type: Partial Multi-year Fund
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: Tokyo University of Agriculture and Technology
• Principal Investigator: MIZUUCHI Ikuo 東京農工大学, 工学(系)研究科(研究院), 准教授 (60359651)
• Project Period (FY): 2012-04-01 – 2015-03-31
• Keywords: ロボット / 動的動作 / 弾性活用 / エネルギフロー

Outline of Final Research Achievements

The results of the research includes (1) feedback excitation control method by which total mechanical energy of a system is increased as much as possible, (2) analysis of the flow of mechanical energies of articulated links, (3) proposal of "time-reversal integral" method and generating a control input sequence based on the method, which realizes an instantaneous very high speed of the end-tip, (4) muscle arrangement determination method for maximizing the integral of force to the center of mass, (5) proposal of concept of "compressor-embedded pneumatic robot", and design and development of several prototype pneumatic-muscle-driven whole-body robots based on the concept, and so on.
Before starting this project, we were not sure if we would be able to achieve the goal. We are very happy to be able to propose a core theory and confirm the theory with simulations and experiments.

Free Research Field

ロボティクス