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Study on an algorithm for grasping an unknown object by robotic hand

Research Project

Project/Area Number 03650213
Research Category

Grant-in-Aid for General Scientific Research (C)

Allocation TypeSingle-year Grants
Research Field 機械力学・制御工学
Research InstitutionKyushu Institute of Technology

Principal Investigator

KANEKO Makoto  Kyushu Institute of Technology, Department of Computer Science and System Engineering Associate Professor, 情報工学部, 助教授 (70224607)

Project Period (FY) 1991 – 1992
Project Status Completed (Fiscal Year 1992)
Budget Amount *help
¥1,900,000 (Direct Cost: ¥1,900,000)
Fiscal Year 1992: ¥600,000 (Direct Cost: ¥600,000)
Fiscal Year 1991: ¥1,300,000 (Direct Cost: ¥1,300,000)
KeywordsROBOT / ACTIVE SENSING / SHAPE SENSING / CONTACT POINT SENSING / TACTILE SENSOR / 形状認識 / ハンド / 未知対象物 / 把握 / 接触力 / コンプライアンス制御
Research Abstract

When a robotic hand approaches an unknown object and grasps it stably, there are two primary considerations from the viewpoint of sensing. One is to detect contact location between robotic hand and unknown object and the other is to detect the surface geometry of object. The contact point provides a good starting point for sensing the surface geometry. The main results through this research grant are summarized below: 1. Contact point sensing With a proper combination of compliant joint and position-controlled joint, a link system can change its link posture while maintaining contact between the link and an object. It was shown that by selecting two different link posture during posture changing motion, we can compute an intersecting point which leads to an approximate contact point. When a link hits an object with relatively high speed, dynamic effects appears and as a result, the link system may bounce at the point of collision. It was also shown that even under such a case, we can obtain an approximate contact point if the link again contacts with the object with a different link posture. We also showed that an exact contact point is obtained if we can assume a finger-tip tactile sensor. 2. Object shape sensing A finger-tip tactile sensor was mounted at the tip of the newly developed three-jointed robot. The proposed sensing algorithm is composed of two parts, namely, one is to move the sensor along the tangential direction of object, and the other is to maintain the sensor attitude so that the most sensitive area of the sensor can always contact with the object to be detected.

Report

(3 results)
  • 1992 Annual Research Report   Final Research Report Summary
  • 1991 Annual Research Report
  • Research Products

    (13 results)

All Other

All Publications (13 results)

  • [Publications] 金子 真,谷江 和雄: "3Dリンク系の準静的自己姿勢変形性に関する基礎的研究" 日本ロボット学会誌. 9. 857-864 (1991)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] 中尾 直樹,金子 真,鈴木 夏夫,谷江 和雄: "接解位置および法線の検知機能を有する半球面光導波路形触覚センサ" 日本機械学会論文集. 57. 805-812 (1991)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] 金子 真,谷江 和雄: "ロボットと凸対象物との接触点算出のための隣接近似度等値法" 日本ロボット学会誌. 10. 976-982 (1992)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] 金子 真,本川 和伸: "最少外界センサ実現に基づく能動的触覚センシング" 日本ロボット学会誌. 11. 251-259 (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Makoto Kaneko, Kazuo Tanie: "Basic Study on Quasi-Statically Planned Self-Posture Changeability for 3D Link System" Journal of Robotics Soc. of Japan. Vol.9. 867-864 (1991)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Naoki Nakao, Makoto Kaneko, Natsuo Suzuki, Kazuo Tanie: "Tactile Sensor Using Optical Wave Guide with the Capability of Detecting Contact Location and Normal Direction" Trans. on Japanese Soc. of Mech. Engineers. Vol.57. 805-812 (1991)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Makoto Kaneko, Kazuo Tanie: "Neighboring-Degree-Of-Approximation Equating Method for Computing Contact Point between Robot and Convex Object" Journal of Robotics Soc. of Japan. Vol.10. 976-982 (1992)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Makoto Kaneko, Kazunobu Honkawa: "Active Tactile Sensing Based on Minimum-External-Sensor-Realization" Journal of Robotics Soc. of Japan. Vol.11. 251-259 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] 金子 真,谷江 和雄: "3Dリンク系の準静的自己姿勢変形性に関する基礎的研究" 日本ロボット学会誌. 9. 857-864 (1991)

    • Related Report
      1992 Annual Research Report
  • [Publications] 中尾 直樹,金子 真,鈴木 夏夫,谷江 和雄: "接触位置および法線の検知機能を有する半球面光導波路形触覚センサ" 日本機械学会論文集. 57. 805-812 (1991)

    • Related Report
      1992 Annual Research Report
  • [Publications] 金子 真,谷江 和雄: "ロボットと凸対象物との接触点算出のための隣接近似度等値法" 日本ロボット学会誌. 10. 976-982 (1992)

    • Related Report
      1992 Annual Research Report
  • [Publications] 金子 真,本川 和伸: "最少外界センサ実現に基づく能動的触覚センシング" 日本ロボット学会誌. 11. 251-259 (1993)

    • Related Report
      1992 Annual Research Report
  • [Publications] 金真 真: "3Dリンク系の準静的自己姿勢変形性に関する基礎的研究" 日本ロボット学会誌. 9. 55-62 (1991)

    • Related Report
      1991 Annual Research Report

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Published: 1991-04-01   Modified: 2016-04-21  

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