| Budget Amount *help |
¥12,610,000 (Direct Cost: ¥9,700,000、Indirect Cost: ¥2,910,000)
Fiscal Year 2020: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2019: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2018: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2017: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2016: ¥7,410,000 (Direct Cost: ¥5,700,000、Indirect Cost: ¥1,710,000)
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| Outline of Final Research Achievements |
We have developed an integrated system of cognition, control, and interface for intuitive operation to the robot with a more intuitive operation feeling. The operator is equipped with smart glasses and can perform Fetch tasks with a dual-arm mobile manipulator with simple instructions such as pointing. The robot has a camera mounted on one arm and implements dual-arm cooperative control in which grip control is performed by one gripper. We built an architecture that executes reactive motion planning using Fast Downward and Behavior Tree, which are one of the Symbolic Task Planning, and built an on-demand cooperative system of multiple robots.
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