2016 Fiscal Year Final Research Report
Bipedal Sprint Robot Having Superhuman Mobility Capabilities
| Project/Area Number |
25709019
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| Research Category |
Grant-in-Aid for Young Scientists (A)
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| Allocation Type | Partial Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Waseda University |
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Principal Investigator |
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| Project Period (FY) |
2013-04-01 – 2017-03-31
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| Keywords | ヒューマノイド / ２足走行 / 走行運動解析 / 走行運動制御 |
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| Outline of Final Research Achievements |
The objective of this research is to develop a bipedal sprint robot that can mimic human running motion. Through the development of the robot, we aim to quantitatively evaluate the influence of differences in pelvic movements and running styles on running motion, and to create a novel sports coaching program. Through human motion analysis, we found that pelvic movement contributes to the running motion. Therefore, we developed a bipedal robot WATHLETE-1 which has a waist joint and has elastic elements in the knee joint and ankle joint. WATHLETE-1 has 22 degrees of freedom in total, has a height of 1,500mm, a weight of 62kg. By developing running motion control, the robot realized a one-leg jumping motion. We also developed an angular momentum control in the yaw direction, the robot could compensate the angular momentum generated in the lower body by the upper body.
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| Free Research Field |
ロボット工学
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