Generation of robust and efficient robot locomotion inside the granular media

在颗粒介质内生成稳健且高效的机器人运动

• 批准号: 21K14110
• 负责人: 李 龍川
• 金额: $ 2.91万
• 依托单位: Ritsumeikan University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Early-Career Scientists
• 财政年份: 2021
• 资助国家: 日本
• 起止时间: 2021-04-01 至 2022-03-31
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-21K14110/
• 关键词: underactuation; locomotion; dynamics; granular media; excitation control; theoretical analysis

I investigate locomotion robots with entrainment-based control and underactuated locomotion systems, which contribute to the control system design and theoretical analysis of this project. I developed simple crawling robot, which contributes to the hardware design of this project.I also conducted bayesian optimization on a crawling robot.

我研究了具有基于夹带控制和欠驱动运动系统的运动机器人，这有助于该项目的控制系统设计和理论分析。我开发了一个简单的爬行机器人，为这个项目的硬件设计做出了贡献。我还对一个爬行机器人进行了贝叶斯优化。

项目成果

Improving the Stability of Quasi-Passive DynamicWalking by Utilizing Spring Mechanism

利用弹簧机构提高准被动动态行走的稳定性

• 发表时间: 2022
• 作者: 松本紘宜;板橋正弥;竹村兼一;Longchuan Li;Yiming Cao;Keiichiro Ueno
• 通讯作者: Keiichiro Ueno

Rhythm generation and coordination of a three-link snake robot with torsion spring

扭簧三连杆蛇形机器人的节律生成与协调

• 发表时间: 2022
• 作者: 松本紘宜;板橋正弥;竹村兼一;Longchuan Li;Yiming Cao
• 通讯作者: Yiming Cao

Emergence of undulation gait based on embodied position controller and filter

基于嵌入式位置控制器和滤波器的波动步态的出现

• 发表时间: 2022
• 作者: 松本紘宜;板橋正弥;竹村兼一;Longchuan Li;Yiming Cao;Keiichiro Ueno;Longchuan Li
• 通讯作者: Longchuan Li

A Mathematical Design for a Novel Walking Support Device that Leverages Passive Dynamics and Coupling Effects

利用被动动力学和耦合效应的新型步行支撑装置的数学设计

• 发表时间: 2022
• 作者: 松本紘宜;板橋正弥;竹村兼一;Longchuan Li
• 通讯作者: Longchuan Li