| Project/Area Number |
15360445
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Aerospace engineering
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| Research Institution | The University of Tokyo |
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Principal Investigator |
MACHIDA Kazuo The University of Tokyo, Research Center for Advanced Science and Technology, Professor, 先端科学技術研究センター, 教授 (40345088)
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| Co-Investigator(Kenkyū-buntansha) |
YAIRI Takehisa The University of Tokyo, Research Center for Advanced Science and Technology, Lecturer, 先端科学技術研究センター, 講師 (90313189)
TANAKA Hideyuki The University of Tokyo, Research Center for Advanced Science and Technology, Research associate, 先端科学技術研究センター, 助手 (70376656)
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| Project Period (FY) |
2003 – 2005
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| Project Status |
Completed (Fiscal Year 2005)
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| Budget Amount *help |
¥11,200,000 (Direct Cost: ¥11,200,000)
Fiscal Year 2005: ¥2,700,000 (Direct Cost: ¥2,700,000)
Fiscal Year 2004: ¥3,000,000 (Direct Cost: ¥3,000,000)
Fiscal Year 2003: ¥5,500,000 (Direct Cost: ¥5,500,000)
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| Keywords | Space Robot / Cellular Satellite / On-Orbit Servicing / Reusable and reconfigurable space system / Autonomous Precise Assembly / 軌道上組立 / 精密作業 / 作業診断 / 能動診断 |
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| Research Abstract |
The achievement of the recycling society that develops with sustainability is expected. In the space development, structure conversion from throw-away type to reusable and recyclable type space system is promised to realize sustainable space activities, because a large amount of cost is required for space transportation. In this research, we have been studying the basic technologies of artificial intelligence and telerobotics which support realization of the reusable and recyclable space system. The main results obtained in the research are as follows.
1. A new concept satellite called CellSat (Cellular Satellite) that is able to be reconfigured by integrating satellite cells by a space robot system was proposed as a typical example of the reusable and recyclable space system, and the prototype model was designed and developed.
2. The key technologies to assemble the CellSat by a robot were studied. The skill acquisition learning technology has been developed to autonomously assemble precise cells under mechanical misalignment and uncertainties by fine path searching method using reaction force data of the robot.
3. A study on task-diagnosis using semantic information has been carried out for autonomous task execution by robots. As a basis for task understanding by robots and inter-robot teaching, we studied and developed a prototype of a framework for rational task-diagnosis using semantic information behind robot actions. The framework attempts to realize rational and flexible task-understanding and action-generation by robots in space without human help. We demonstrated the system potential of context-aware interpretation of unexpected events in the assembly experiments in simulations.
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