| 1.Research Institution | The University of Tokyo | |
| 2.Research Area | Physical and Engineering Science | |
| 3.Research Field | Micro-mechatronics and Soft-mechanics | |
| 4.Term of Project | FY1996〜FY2000 | |
| 5.Project Number | 96P00801 | |
| 6.Title of Project | Research on Micro and Soft-Mechanics Integration for Bio-mimetic Machines |
| Name | Institution,Department | Title of Position |
| Inoue, Hirochika | Graduate School of Engineering | Professor |
8.Core Members
| Names | Institution,Department | Title of Position |
| Shimoyama, Isao | The University of Tokyo, Graduate School of Engineering | Professor |
| Hirose, Shige | Tokyo Institute of Technology, Graduate School of Science and Engineering | Professor |
| Dohi, Takeyoshi | The university of Tokyo, Graduate School of Engineering | Professor |
9.Cooperating Researchers
| Names | Institution,Department | Title of Position |
| Shinoda, Hiroyuki | The university of Tokyo, Graduate School of Engineering | Assoc. Professor |
| Nakamura, Yoshihiko | The university of Tokyo, Graduate School of Engineering | Professor |
| Inaba, masayuki | The university of Tokyo, Graduate School of Engineering | Professor |
10.Summary of Research Results
|
This project aims to explore novel techniques on micro-mechatronics and soft-mechanics, and by integrating those results with intelligent software, it also develops a soft and flexible humanoid as a safe and human friendly robot for the future society. 1) New tactile sensor by acoustic resonant cell, telemetric sensor skin, and MEMS based tactile sensor of deformable LC-circuit are developed. 2) Cybernetic shoulder system which resembles flexibility and complexity of human shoulder is proposed. As a frontier study for the artificial muscle of the future, gel-robots are created by using conductive polymer. The control of electric field inside the water enables the star fish gel robot to turn over. 3) Micro artificial air muscle and MEMS based micro air-valve are developed. Driving bone model of human hand with that micro servo system, precision robot hand of human size is developed. 4) Spine structure of animals and humans induces flexibility of body motions. The muti-linked spine structure is designed and controlled by tendon-driven servo mechanism to realize soft motions of mechatronic artifact. 5) By integrating soft sensors, soft actuation control, real-time stereo vision and intelligent control software, a humanoid robots H5, H6, H7 which can walk, handle objects, and communicate with are developed. 6) Low invasive surgery support system is also developed as the real application of micro and soft mechatronic technologies. |
11.Key Words
(1)micro-mechatronics、(2)soft mechanics、(3)sensor distributed robot skin
(4)cybernetic shoulder、(5)mechatrnic artifact、(6)humanoid robot
(7)surgery support system
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| Proc. of Int. Conf. on Robotics and Automation (ICRA'01) | 2001 | to appear | ||
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| J. J. Kuffner | Motion Planning for Humanoid Robots Under Obstacle and Dynamic Balance Constraints | |||
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