| Project/Area Number |
15K00370
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Intelligent robotics
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| Research Institution | National Institute of Advanced Industrial Science and Technology |
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Principal Investigator |
NAKAMURA Akira 国立研究開発法人産業技術総合研究所, 情報・人間工学領域, 主任研究員 (30357660)
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| Co-Investigator(Kenkyū-buntansha) |
永田 和之 国立研究開発法人産業技術総合研究所, 情報・人間工学領域, 主任研究員 (10357634)
原田 研介 国立研究開発法人産業技術総合研究所, 情報・人間工学領域, 特定フェロー (50294533)
山野辺 夏樹 国立研究開発法人産業技術総合研究所, 情報・人間工学領域, 主任研究員 (90455436)
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| Project Period (FY) |
2015-04-01 – 2018-03-31
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| Project Status |
Completed (Fiscal Year 2017)
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| Budget Amount *help |
¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2017: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2016: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2015: ¥3,120,000 (Direct Cost: ¥2,400,000、Indirect Cost: ¥720,000)
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| Keywords | エラーリカバリー / リペアロボット / メンテナンスロボット / マニピュレーション / 2指ハンド / グリッパ / プランニング / センシング / モデリング |
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| Outline of Final Research Achievements |
It is necessary to accomplish a high degree of manipulation task which is atypical in repair of the home electric appliance by using a robot. Error often occurs in such an irregular advanced manipulation. In this research, a restoration skill from failure is clarified and reliability to achieve the task is improved, by applying error recovery using task stratification and error classification. The new idea of recovery from manipulation error and the systematization of theory are derived according to a technique obtained by this research.
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