成果報告書詳細
管理番号20150000000600
タイトル*平成26年度中間年報 環境・医療分野の国際研究開発・実証プロジェクト ロボット分野の国際研究開発・実証事業 災害対応ロボット・オープンプラットフォームの研究開発(1)
公開日2016/1/27
報告書年度2014 - 2014
委託先名国立大学法人東京大学
プロジェクト番号P12001
部署名ロボット・機械システム部
和文要約
英文要約The International R&D and Demonstration Project in Environment and Medical Device Sector / The International R&D and Demonstration Project on Robotic Field / Research and Development of Disaster-Response Robot Open Platform (FY2014-FY2015)

FY2014 Annual Report

The University of Tokyo


SUMMARY

This documents concern the above mentioned project that has been jointly conducted by the four institutions, namely, the University of Tokyo, Chiba Institute of Technology, Osaka University, and Kobe Universsity. This report specifically explains the research and development at the University of Tokyo in FY2014. The works of the four institutions are described as follows:

(1) R&D of force-controllable mechanical systems for the wholebody motion (The University of Tokyo)
(2) R&D of sensing and autonomouse motion systems (Chiba Inst of Technology)
(3) Robust mobility and operation control systems (Osaka University)
(4) R&D of teleoperated systems (Kobe University)

The work (1) for the University of Tokyo was breaken down into the following five elemet technologies for FY2014.

1. Development of the whole-body mehanism using force-controllable hydraulic
actuators
2. Development of tendon-driven hands using hydraulic actuators
3. Development of high-power motor-driving circuits and high-speed in-body network
4. Enhancement of driving systems to higher motion and task performance
5. Integration of the whole element technologies and confirmation by experiments

In FY2014, the first four items were completed and their element technologies were developped. The item 5 aims to confirm the performance of the element technologies, integrate them, and realize the whole-body hardware system of a humanoid robot that outperform mobility and manipulation by the end of FY2015. The servo system of the whole-body mechanism was completed and the servo system of the tendon-drived hand is also completed in FY2014. In early FY2015, their performances will be confirmed. The integrated control of the whole-body motion mechanism will continue in FY2015.
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