| Project/Area Number |
08650309
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | The University of Tokyo |
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Principal Investigator |
AIYAMA Yasumichi The Univ.of Tokyo, Fac.Engineering., Assoc.Res., 工学系研究科, 助手 (60272374)
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| Co-Investigator(Kenkyū-buntansha) |
ARAI Tamio The Univ.of Tokyo, Engneering, Prof.fac., 工学系研究科, 教授 (40111463)
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| Project Period (FY) |
1996 – 1997
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| Project Status |
Completed (Fiscal Year 1997)
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| Budget Amount *help |
¥2,200,000 (Direct Cost: ¥2,200,000)
Fiscal Year 1997: ¥600,000 (Direct Cost: ¥600,000)
Fiscal Year 1996: ¥1,600,000 (Direct Cost: ¥1,600,000)
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| Keywords | Mobile Robot / Robot Group / Cooperative Transferring / Parameter Estimation / Re-Grasping |
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| Research Abstract |
Flexible transport system which can deal with various objects is demanded in places like construction sites and distribution center. One of the merits multiple mobile robot system is that their formation respected to an object can be changed freelly. However, in most of the previous works on the cooperative transportation, chage of formation after the tranportation starts have not been delt with. Therefore, we've introduced the regrasping strategy but it is still hard to realize cooperative transportation because of the following three problems :
(1) From the view point of industrial cost, we should extend our method to the one for non-holonomic mobile robots.
(2) Positioning error of mobile robots which cannot be avoided and results in too much external force, has not been considerd.
(3) Mobile robot is drived by friction between wheels and floor and wheels will slip if too much torque works. This torque should be considered as torque-limit for object handling. Therefore, we aimed at "Realization of cooperative transportation considering robots'positioning errors and torque-limit". First of all, we proposed motion planning algorithm considering regrasping and evaluated its effectiveness in simulation. Then we desiqned and manufactured the handling mechanism. We made cooperative transportation experiments by real robots and showed the effectiveness of proposed system.
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