成果報告書詳細
管理番号20150000000602
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 災害現場支援のための2脚2腕ロボットシステムの研究開発
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Title:Research and Development of Biped Dual-Armed Humanoid Robot System for Disaster Response (FY2014-FY2015) FY2014 Annual Report

This financial year, we finished development and manufacture of the robot along with evaluation and selection processes of its configurations of shiftable hardware such as vision system and hands. At the same time, we tested control software, cognitive operation software for robot body control, and experiments of the tasks under the environment in limited communications using another robot.They can be adopted easily to the developed robot because of its hardware virtualization. We are planning to integrate its hardware and software for the coming year. The results of this year are following: 1. Development of robot hardware for continuous activities in disaster sites. 1-1) Development of high power output body; The dual-armed biped robot for disaster response for this research is configured with the existing high output motors with water cooling driver system. We placed double-motor axis in torso, crotch, and these axes with larger harmonic gears for transmitting high-torque of double-motor, and had been already assembled and tested. 1-2) Development of long-life power modules; The power system separated into 80 V batteries, which are small and light-weight for lithium ferrite batteries, for motors and 12 V one for computers and control boards has reduced noise effects between drive-train and controller. 1-3) Development of 3D vision modules; We tested 3D processing vision sensors in outdoor environments and then discovered remarkable performances of stereo vision and laser-range sensor. We acquired the headset with stereo vision and range sensor for 3D recognition, and we tested and evaluated obstacle avoiding vehicle drive with environment recognition in outdoor environment and locomotion with uneven terrain recognition. 1-4) Development of powerful and dexterous hands; We acquired and tested the hands having dexterity for opening a door, twisting a handle, and manipulating a button, along with capabilities of actions to support its body such as supporting the body in case of falling, locomotion while landing on its hands, and climbing a ladder. 2. Development of control systems for robots functioning under unknown environments. 2-1) Attainment of uneven terrain locomotion control; In tandem with hardware design and manufacture, we progressed in developing the robot control modules generating locomotion patterns to compensate for cases of no expected reactive force for a biped robot. 3. Robot tele-operation interface with switchable autonomy and maneuverability; In tandem with hardware design and manufacture as same as the control modules, we progressed our robot operation interface with the existing robots. In the DRC mock-up environment of disaster sites, communication bandwidth limitation and disconnection are caused, therefore we built the interface to receive and display information obtained by robots appropriately and maneuver and commands robots.
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