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Intentional Sensing Mechanism for Robot's Finger and its Application to Object Handling

Research Project

Project/Area Number 06650480
Research Category

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

Allocation TypeSingle-year Grants
Research Field 計測・制御工学
Research InstitutionChuo University

Principal Investigator

KINOSHITA Genichiro  Chuo Univ.Scien.& Eng.Prof., 理工学部, 教授 (10055204)

Project Period (FY) 1994 – 1995
Project Status Completed (Fiscal Year 1995)
Budget Amount *help
¥1,800,000 (Direct Cost: ¥1,800,000)
Fiscal Year 1995: ¥400,000 (Direct Cost: ¥400,000)
Fiscal Year 1994: ¥1,400,000 (Direct Cost: ¥1,400,000)
KeywordsRange measurement / Intentional sensing / Range sensor / Tactile sensor / Haptic aspect / インテンション / 環状走査距離センサ / 分布形触覚センサ / 力覚センサ / センサフュージョン / インテンショナルセンシング / センサシステム / ロボット
Research Abstract

The research has been summarized as (a) the analysis of the intentional sensing problems for an attentive area in the working space, (b) the development of an optical range sensor and (c) the automatic generation method of the haptic aspects on the tactile sensing as follows.
The intentional sensing problems give how to organize and integrate the diverse sensor observations. It is given that a sensing strategy based on the intentional sensing is generated on the process of the problem solving in the expert system.
ORANGES (the Optical RANGE Sensor) system has been constructed as a device for an application to the intentional sensing. For the attentive area, the range sensing is maintained by the detection of the range for 512 spots along the circular path which is projected by the circular scanning of the laser beam spot with the radius 7.5mm and the rotational speed with 80 rpm. ORANGES system is able to measure accurately the distance to an object's surface in the range of 30mm-100mm under a resolution of about (]SY.+-。[)2mm ((]SY.+-。[)3sigma, sigma : standard deviation). Especially, we obtained it less than (]SY.+-。[)0.12mm ((]SY.+-。[)3sigma) in the range of 30mm-60mm.
A concept of haptic aspect is introduced as a method for the representation of all the tactual images detected by the tactile sensing onto the surface of an object. The haptic aspects are defined as the topologically equivalent classes of the tactual images for an object's surface. It is shown that the haptic aspects are automatically' generated from CAD data and the structured relationships of object's surface are represented as a graph of the haptic aspect.

Report

(3 results)
  • 1995 Annual Research Report   Final Research Report Summary
  • 1994 Annual Research Report
  • Research Products

    (16 results)

All Other

All Publications (16 results)

  • [Publications] 木下源一郎: "触覚センシングによる物体表面の触覚像取得" 計測自動制御学会論文集. Vol.31 No.6. 692-698 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] M.K.Ikhsan: "Automatic generation of haptic aspect for a polyhedron via its convex full" Procs.of the Inter.Symp.on Microsystims,Intelligent Materials and Robot. 548-551 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] G.Kinoshita: "Development of Optical Proximity Sensor : ORANGES System-Optical Range Sensor with Circular Scanning-" 1996 IEEE/SICE/RSJ Inter.Conf.on Multisensor and Integration for Intelligent Systems. (発表予定). (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] 蒔田憲和: "環状距離入力センサーによる距離計測とその応用" 電気学会システム・制御研究会資料. SC-96-11. 1-6 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] G.Kinoshita: "Tactual Imaging of Object's Surfaces Using a Tactile Sensor" Trans.of the Society of Instrument and Control Engineers. Vol.31, No.6. 692-698 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] M.K.Ikhsan: "Automatic Generation of Haptic Aspect for a Polyhedron via Its Convex Full" Procs.of the Inter.Symp.on Microsystems, Intelligent Materials and Robot. 548-551 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] G.Kinoshita: "Development of Optical Proximity Sensor : ORANGES System -Optical Range Sensor with Circular Scanning-" 1996 IEEE/SICE/RSJ Inter.Conf.on Multisensor and Integration for Intelligent Systems. (to be appeared).

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] N.Makita: "Range Sensing by Circular Scanning Method and its Applications" Procs.of IEEJ Technical Meeting on Systems and Control. SC-96-11. 1-6 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] 木下源一郎: "触覚センシングによる物体表面の触覚像取得" 計測自動制御学会論文集. 31No.6. 692-698 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] M.Y.Ikhsan: "Automatic generation of haptic aspect for a polyhedron via its convex hull" Procs.of the Inter.Symp.on Microsystemss,Intelligent Materials and Robot. 548-551 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] 蒔田憲和: "環状距離入力センサーによる距離計測とその応用" 電気学会システム・制御研究会資料. 1-6 (1996)

    • Related Report
      1995 Annual Research Report
  • [Publications] 蒔田憲和: "環状距離入力センサの試作-その3-" 第34回計測自動制御学会学術講演会予稿集,. 109-110 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] 蒔田憲和: "環状距離入力センサによる距離計測" 第13回日本ロボット学会学術講演会予稿集. 479-480 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] M.Y.イクサン,槙田、木下: "3次元凸包計算による多面体の触像アスペクト自動生成" 第12回ロボット学会学術講演会. 663-664 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] 槙田、M.Y.イクサン,木下、出澤: "環状距離入力センサの試作-その2" 第12回ロボット学会学術講演会. 1071-1072 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] M.Y.イクサン,木下: "3次元凸包計算による多面体の触像アスペクト自動生成" 電気学会システム・制御研究会. SC-94-18. 31-37 (1994)

    • Related Report
      1994 Annual Research Report

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Published: 1994-04-01   Modified: 2016-04-21  

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