| Project/Area Number |
10044177
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| Research Category |
Grant-in-Aid for International Scientific Research.
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| Allocation Type | Single-year Grants |
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| Section | Joint Research . |
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| Research Field |
Intelligent informatics
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| Research Institution | National Center for Science Information Systems |
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Principal Investigator |
UENO Haruki National Center For Science Information Systems, Department of Research and Development, Professor, 研究開発部, 教授 (00082842)
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| Co-Investigator(Kenkyū-buntansha) |
BISWAS G. バンダービルト大学, 工学部, 準教授
WILKES Mitch Vanderbilt University, Department of Electrical Engineering, Associate Professor, 工学部, 準教授
KAWAMURA Kazuhiko Vanderbilt University, Department of Electrical Engineering, Professor, 工学部, 教授
OOURA Izumi Tokyo Denki University, Department of Systems Engineering, Associate Professor, 理工学部, 助教授 (50180914)
SAITO Yukio Tokyo Denki University, Department of Industrial Mechanical Engineering, Profess, 理工学部, 教授 (50057238)
BISWAS Gautam Vanderbilt University, Department of Computer Science, Associate Professor
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| Project Period (FY) |
1998
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| Project Status |
Completed (Fiscal Year 1998)
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| Budget Amount *help |
¥2,600,000 (Direct Cost: ¥2,600,000)
Fiscal Year 1998: ¥2,600,000 (Direct Cost: ¥2,600,000)
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| Keywords | autonomous system / service robot / humanoid / intelligent robot / knowledge base / robotic vision / scheduling / platform |
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| Research Abstract |
This work of the year was the final activity of the three year research collaboration on an advanced autonomous service robot to serve aged and disabled persons in daily life between us in Japan and a robotic group at the Vanderbilt university of USA.The goal was to make a breakthrough in the field of a service robot by developing new concepts and technologies, and to demonstrate new robotic functions to the society. The goal has been achieved successfully at a laboratory level. The Japan group has developed ahumanoid service robot HARIS, which consists of an electronic human-like arm and a knowledge-based software system. The human-like robot consists of a multi-joint arm with 8 d.o.f. and a five-finger hand with 18 d.o.f.. The hand unit with 178 tactile sensors is controlled by an embedded micro-processor for handling 3D objects by itself. The knowledge-based software system includes a model-based 3D vision, an intelligent task/motion scheduler, a natural language interface and a robot controller. The frme-based knowledge engineering environment ZERO++ was developed to integrate these subsystems. The US group has developed a dual-arm service robot ISAC.The ISAC robot consists of an air-controlled dual arm, a 3D vision, a visual servoing system, a face tracker, a human interface, and so on. The agent-based platform IMA was developed to integrate the system. It should be noted that the integration of the knowledge-based approach of Japan group and the sensor-based approach of US group has resulted in high flexibility. The main products have been published through journals and conference proceedings.
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