| Project/Area Number |
10650259
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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 | Hiroshima University |
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Principal Investigator |
KANEKO Makoto FACULTY OF ENG., HIROSHIMA UNIV., PROFESSOR, 工学部, 教授 (70224607)
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| Co-Investigator(Kenkyū-buntansha) |
HARADA Kensuke FACULTY OF ENG., HIROSHIMA UNIV., RESEARCH ASSOCIATE, 工学部, 助手 (50294533)
TSUJI Toshio FACULTY OF ENG., HIROSHIMA UNIV., ASSOCIATE PROFESSOR, 工学部, 助教授 (90179995)
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| Project Period (FY) |
1998 – 1999
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| Project Status |
Completed (Fiscal Year 1999)
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| Budget Amount *help |
¥3,900,000 (Direct Cost: ¥3,900,000)
Fiscal Year 1999: ¥1,900,000 (Direct Cost: ¥1,900,000)
Fiscal Year 1998: ¥2,000,000 (Direct Cost: ¥2,000,000)
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| Keywords | robot hand / grasp / manipulation / pyramidal-like object / grasp stategy / 把持 / 把握 / アルゴリズム / 安定性 / 手衡把握 / 多指ロボットハンド |
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| Research Abstract |
The obtained results throughout our research activities can be summarized as follows :
・Assuming that a triangular pyramidal object is placed on a table under the gravitational field, we showed the necessary and sufficient number of fingers to lift up the triangular object which is impossible for fingers to lift up by directly grasping it. We also showed the strategy to lift up a triangular object by robot fingers.
・We extended the strategy to the case where the general pyramidal-like object is lifted up. We showed that the general pyramidal-like object can be lifted up by three fingers except for the regular sqare pyramidal object.
・We performed an experiment to lift up a triangular object placed on a table by a robot hand. We showed that the triangular object can be lifted up by utilizing the proposed grasp strategy.
・Assuming that that a pyramidal-like object is lifted up and is in an equilibrium state, we analyzed the stability of the object. We obtained the region of the fingers to ensure the stability.
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