| Project/Area Number |
06555073
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| Research Category |
Grant-in-Aid for Developmental Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | FUKUI NATIONAL COLLEGE OF TECHNOLOGY |
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Principal Investigator |
INOUE Seiichi Fukui National College of Technology, Professor, 機械工学科, 教授 (70042984)
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| Co-Investigator(Kenkyū-buntansha) |
YOSHIZAKI Yasuo Fukui National College of Technology, Associate professor, 機械工学科, 助教授 (10191561)
OJIKA Takeo Gifu University, Faculty of Engineering, Professor, 工学部, 教授 (80030451)
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| Project Period (FY) |
1994 – 1995
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| Project Status |
Completed (Fiscal Year 1995)
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| Budget Amount *help |
¥1,000,000 (Direct Cost: ¥1,000,000)
Fiscal Year 1995: ¥500,000 (Direct Cost: ¥500,000)
Fiscal Year 1994: ¥500,000 (Direct Cost: ¥500,000)
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| Keywords | Three dimensional measurement / Telerobotics / Obstacle avoidance |
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| Research Abstract |
An input device to teleoperate the hand-robot using only human hands without any devices has been developed. It consists of two CCD cameras for three-dimensional measurement, image processor and personal computer.
The three kinds of landmarks (red, green and blue points) are marked on the end of thumb and index finger and the root of thumb, and then the movement of them are automatically measured. We made sure our system as an input device is avaliable to operate the hand-robot remotely by the three-dimensional measurement of human hand moving.
First we have to know the elements of the perspective transformation matrixes which show the relationship between three-dimensional space (hand moving space) and two-dimensional space (camera images), but it is very easy to know them. We need only to adjust the posture and position of CCD camera in order to take the images of the whole 3D real space where the human hands move around to control robots, and need not another measurement.
The results of measurements are as follows. The average of error is less than <plus-minus>0.66mm in the measurement space (x=100mm, y=60mm and z=100mm), and the standard deviation of error in the direction of the depth (z) is 2.6mm which is about 3 times that in another directions. The sampling speed is 10 times/se
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