| Project/Area Number |
12650429
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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 |
Measurement engineering
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| Research Institution | Kyushu University |
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Principal Investigator |
HASEGAWA Tsutomu Kyushu University, Graduates School of Information Science and Electrical Engineering, professor, 大学院・システム情報科学研究院, 教授 (00243890)
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| Co-Investigator(Kenkyū-buntansha) |
KIRIKI Toshihiro Kyushu University, Graduates School of Information Science and Electrical Engineering, Research associate, 大学院・システム情報科学研究院, 助手 (60264074)
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| Project Period (FY) |
2000 – 2001
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| Project Status |
Completed (Fiscal Year 2001)
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| Budget Amount *help |
¥3,100,000 (Direct Cost: ¥3,100,000)
Fiscal Year 2001: ¥800,000 (Direct Cost: ¥800,000)
Fiscal Year 2000: ¥2,300,000 (Direct Cost: ¥2,300,000)
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| Keywords | robotic hand / multi-jointed finger / slip detection / sensor fusion / grasp planning |
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| Research Abstract |
Objective of this research is to develop a precise and fine sensing ability of manipulation task state by a multi-fingered robotic hand. Followings are the results of the research.
A method has been developed for active tactile sensing of shape of unknown surfaces using a miniature force/torque sensor mounted on by sliding motion of the fingertip based on position/force hybrid control. A method of surface reconstruction has been developed for an object with unknown curved surface using 3-D data of points on the surface and the surface normal information obtained by active tactile sensing.
A new method has been developed for detection and measurement of fingertip slip on a surface of a manipulated object in a multi-fingered precision manipulation with rolling contact. The method is based on the multi-sensor fusion of vision, joint-encoders of the fingers, and fingertip force/torque sensors. Tangential slip displacement of the fingertip contact is separated from the displacement by rolling motion of the fingertip.
Several planning methods of grasp for multi-fingered manipulation have been developed. Quality measures are introduced to select better grasp among possible candidates. The planner succeeded to generate a grasp which enables maximizing the range of motion of the grasped object.
Task model for the Peg-in-Hole task has been developed. The model is composed of a sequence of task state transition, motion primitives, and procedures for determining task state.
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