成果報告書詳細
管理番号20160000000589
タイトル*平成27年度中間年報 次世代ロボット中核技術開発 (革新的ロボット要素技術分野)自律型ヒューマノイドロボット 動物の骨格・動作分析による、走破性が高い省エネ型脚機構の開発
公開日2016/9/10
報告書年度2015 - 2015
委託先名学校法人日本医科大学日本獣医生命科学大学  株式会社テムザック
プロジェクト番号P15009
部署名ロボット・AI部
和文要約
英文要約Title: Strategic Advancement of Multi-Purpose Ultra-Human Robot and Artificial Intelligence Technologies. “Future robot technology” Autonomous Humanoid Robot. Highly off road Leg mechanism R&D as the energy saving model, based on analysis of animal’s skeleton and movements. (FY2015-FY2016) FY2015 Annual Report.

Since the period left behind after the contract with NEDO, Nippon Veterinary & Life Science University (NVLU) and tmsuk was short, we were able to do only the basic research about a dog’s gait analysis.
1) Installation of gait analysis system
A Three dimensional gait analysis system (ICpro3DAS, Hutech Co., Ltd)” was installed in NVLU.
It consists of 4 sets of high-speed video camera and of gait analysis software with PC. Force Plate for the measuring foot pressure will be implemented in FY2016.
2) Setting movie visual shooting condition
2)-1: Setting the condition for capturing the motion.
As a preparation, we trained the dog to obtain the ideal walk in the room of motion analysis 2 hour respectively twice in a week. Sometimes, we tried to put color markers on his joints in order not to feel uncomfortable.
We established 14 points as a bodily landmarks: 1: Foreleg end-phalanx, 2: Digitorum ー metacarpi joint, 3: Carpal joint, 4: Elbow joint, 5: Shoulder joint, 6: Hindlimb end-phalanx, 7: Digitorum ー metatarsal joint, 8: Ankle joint, 9: Knee joint, 10: Hip joint, 11: Scapula upper end, 12: Ilium upper end, 13: Parietal area, 14: rostrum area. Markers color, size & material: fluorescent red and 15mm ball made of Polystyrene foam.
2)-2 Setting Video camera conditions
In order to measure correct movements of the dog, 4 sets of camera were positioned at 45 degrees to forward and to backward from the center line toward to a longitudinally on the platform. Height of camera were 1m and they located 2~2.5 m from the center. Shatter speed was set in 1/1000 second.
3) Motion capture analysis.
Recorded movies were transferred to PC and processed by motion analysis software.
Analysis step:
1: Automatically trace the markers on the dog.
2: Drawing a stick-picture.
3: Making chart graph of each joint angle
From April in 2016, NVLU will additionally install two force plates. It will provide an important research data about a joint moment. Then tmsuk will start technical design of highly off road leg mechanism as the energy saving model. Tmsuk targets to produce the prototype of Leg mechanism by end of August 2016.
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