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Development of Multi-fingered Mechanical Hand Having Skill of Object Grasping and Manipulation with Sliding and Rotational Contacts,

Research Project

Project/Area Number 13450103
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionKyoto University

Principal Investigator

TOSHIKAWA Tsuneo  Kyoto University, Dept. of Mech. Eng., Professor, 工学研究科, 教授 (60026177)

Co-Investigator(Kenkyū-buntansha) YAMAMOTO Minoru  Kyoto University, Dept. of Mech. Eng., Instructor, 工学研究科, 助手 (50026100)
YOKOKOHJI Yasuyoshi  Kyoto University, Dept. of Mech. Eng., Associate Professor, 工学研究科, 助教授 (30202394)
Project Period (FY) 2001 – 2003
Project Status Completed (Fiscal Year 2003)
Budget Amount *help
¥13,500,000 (Direct Cost: ¥13,500,000)
Fiscal Year 2003: ¥1,300,000 (Direct Cost: ¥1,300,000)
Fiscal Year 2002: ¥5,000,000 (Direct Cost: ¥5,000,000)
Fiscal Year 2001: ¥7,200,000 (Direct Cost: ¥7,200,000)
Keywordsrobot hand / multi-fingered hand / grasping / manipulation / sliding contact / rolling contact / skill / 滑り
Research Abstract

The purpose of this research is to develop a multi-fingered mechanical hand having skill of object grasping and manipulation not only allowing sliding and rotational contacts between the fingers and the object, 'but also, if possible, taking advantage of sliding and-rotational contacts. The, outline of the obtained results is as follows.
(1)Realization'of advanced grasping and manipulation by multi-fingered mechanical hands:
(1.1)Conditions for power grasps for multiple objects have been derived and a method of its optimization was proposed.
(1.2)A dynamic control algorithm of multi-fingered hand for pivoting a heavy object was derived. An experimental result was also given.
(1.3)An optimization method of grasping positions on an object by using a required external force set was proposed and numerical examples were given to show the validity of the approach.
(1.4)A control method for adaptive grasping of objects based on position information from a camera was proposed and some preliminary experiments were performed.
(1.4)A control method for adaptive grasping of objects based on position information from a camera was proposed and some preliminary experiments were performed.
(1.4)A control method for adaptive grasping of objects based on position information from a camera was proposed and some preliminary experiments were performed.
(2)Toward analysis of manipulation skill of human operator and robot:
(2.1)A 2-dimensional haptic'simulator for observing human assembly skill using virtual task space was developed for observing the human skill. Virtual and real peg-in-hole tasks were compared.
(2.2)A 6-dof finger-mounted haptic device was developed for general manipulation of an object by two human fingers.
(2.3)The concept of impedance perception for robots was proposed aiming to build a basic technique for real time perception on the constraint imposed on the robot's end effector.

Report

(4 results)
  • 2003 Annual Research Report   Final Research Report Summary
  • 2002 Annual Research Report
  • 2001 Annual Research Report
  • Research Products

    (30 results)

All Other

All Publications (30 results)

  • [Publications] Tsuneo Yoshikawa: "Optimization of Power Grasps for Multiple Objects"Proc. of the 2001 IEEE International Conference on Robotics and Automation. 1786-1791 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] 吉川恒夫: "2本指操作のための6自由度指先装着型力覚提示装置の開発"日本ロボット学会誌. 20・8. 893-899 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] 吉川恒夫: "ロボットのためのインピーダンス知覚"日本ロボット学会誌. 21・1. 103-108 (2003)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] Tsuneo Yoshikawa: "Toward Observation of Human Assembly Skill Using Virtual Task Space"Experimental Robotics VIII (eds. B.Siciliano and P.Dario), Springer. 540-549 (2003)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] Tsuneo Yoshikawa: "Dynamic Control of Multifingered Hands for Pivoting Operation"Proc. of the 32nd International Symposium on Robotics (ISR2001). 1260-1265 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] Tsuneo Yoshikawa: "Stable Haptic Display Based on Coupling Impedance for Internal and External Forces"Transactions on Control, Automation and Systems Engineering. 4・1. 2-8 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] T.Yoshikawa, T.Watanabe, M.Daito: "Optimization of Power Grasps for Multiple Objects"Proc. IEEE Int. Conf. on Robotics and Automation. 1786-1791 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] T.Yoshikawa, T.Yamaguchi, M.Noguchi, M.Kawai: "Development of 6DOF Finger-mounted Haptic Device for Operation. with Two Fingers (in Japanese)"Journal of the Robotics Society of. Japan. 20-8. 893-899 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] R.Kikuuwe, T.Yoshikawa: "Robot Perception of Impedance (in Japanese)"Journal of the Robotics Society of Japan. 21-1. 103-108 (2003)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] T.Yoshikawa, M..Kawai, K.Yoshimoto: "Toward Observation of Human Assembly Skill Using Virtual Task Space"Experimental Robotics VIII. ( eds. B. Siciliano and P. Dario), (Springer,). 540-549 (2003)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] T.Watanabe, T.Yoshikawa: "Dynamic Control of Multifingered Hands for Pivoting Operation"Proc. IEEE Int. Conf, on Robotics and Automation. 1260-1265 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] M.Kawai, T.Yoshikawa: "Stable Haptic Display Based on Coupling Impedance for Internal and External Forces"Transactions on Control, Automation and Systems Engineering. 4-1. 2-8 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] 吉川恒夫: "要求外力集合を用いた把持の最適化"日本ロボット学会誌. 21・3. 321-326 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] 吉川恒夫: "ロボットのためのインピーダンス知覚"日本ロボット学会誌. 21・1. 103-108 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] 吉川恒夫: "インピーダンス知覚を用いた円柱状曲表面の認識"計測自動制御学界論文集. 39・10. 970-997 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] Tsuneo Yoshikawa: "Toward Observation of Human Assembly Skill Using Virtual Task Space"Experimental Robotics VIII(eds.B.Siciliano nd P.Dario), Springer. 540-549 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] 吉川恒夫: "視覚フィードバックによるロボットハンドの適応的把握動作"第21回日本ロボット学会学術講演会講演論文集. (CD-ROM). 3E19 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] 横小路泰義: "大きな通信時間遅れの下での直接バイラテラル制御による技術試験衛星VII型搭載ロボットアームの地上遠隔操作実験"日本ロボット学会誌. 21・3. 309-320 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] Tsuneo Yoshikawa: "Stable Haptic Display Based on Coupling Impedance for Internal and External Forces"Transactions on Control, Automation and Systems Engineering. 4・1. 2-8 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 吉川 恒夫: "複数対象物に対するパワーグラスプの最適化"日本機械学会論文集. 68・668. 1223-1230 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 吉川 恒夫: "2本指操作のための6自由度指先装着型力覚提示装置の開発"日本ロボット学会誌. 20・8. 893-899 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] Tsuneo Yoshikawa: "Controllability of Under-Actuated Planar Manipulators with One Unactuated Joint"The International Journal of Robotics Research. 21・5-6. 555-561 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 吉川 恒夫: "ロボットのためのインピーダンス知覚"日本ロボット学会誌. 21・1. 103-108 (2003)

    • Related Report
      2002 Annual Research Report
  • [Publications] 横小路泰義: "動作者の視点からのカメラ画像によるモーションキャプチャとロボット作業教示への応用"情報処理学会論文誌:コンピュータビジョンとイメージメディア. 43・SIG4. 105-116 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] Tsuneo Yoshikawa: "Optimization of Power Grasps for Multiple Objects"Proc. of the 2001 IEEE International Conference on Robotics and Automation. 2001. 1786-1791 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] Tsuneo Yoshikawa: "Dynamic Control of Multifingered Hands for Pivoting Operation"Proc. of the 32nd ISR (International Symposium on Robotics. 1260-1265 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 吉川恒夫: "内力・外力分離型インピーダンスを用いた仮想物体把持の力覚提示"日本バーチャルリアリティ学会論文誌. 6・1. 43-48 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] Tsuneo Yoshikawa: "Task Priority Based Mode Shaping Method for In-phase Design of Flexible Structures Aiming at High Speed and Accurate Positioning"Proc. of the 2001 IEEE International Conference on Robotics and Automation. 1806-1812 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] Tsuneo Yoshikawa: "Skill Observation of Human Assembly Operation by Haptic Virtual Reality Technology"Proc. of the 32nd International Symposium on Robotics. 855-860 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] Yasuyoshi Yokokohji: "Ground-Space Bilateral Teleoperation Experiment Using ETS-VII Robot Arm with Direct Kinesthetic-Couping"Proc. of the 2001 IEEE International Conference on Robotics and Automation. 1031-1038 (2001)

    • Related Report
      2001 Annual Research Report

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Published: 2001-04-01   Modified: 2016-04-21  

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