Realization of Nonholonomic Interaction in Dexterous Motions with Collisions as Discrete Events

• Project/Area Number: 16K06166
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Dynamics/Control
• Research Institution: Nanzan University
• Principal Investigator: Nakashima Akira 南山大学, 理工学部, 准教授 (70377836)
• Research Collaborator: Sakamoto Noboru
• Project Period (FY): 2016-10-21 – 2019-03-31
• Project Status: Completed (Fiscal Year 2018)
• Budget Amount: ¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000); Fiscal Year 2018: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000); Fiscal Year 2017: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000); Fiscal Year 2016: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
• Keywords: 多指ハンドロボット / 非ホロノミック系 / 拘束の切り替え / 劣駆動 / 球体ロボット / 転がり拘束 / 非線形最適制御 / 航空機 / 機械力学・制御 / 知能ロボティックス / 制御工学

Outline of Final Research Achievements

This research dealt with the three topics: (1) Modeling of the contact transition; (2) Motion planning based on the nonholonomy of the rolling contact; (3) Nonlinear optimal control of an acrobot. In the 1st topic, the contact transition was modeled based on a probabilistic one in the paper flipping task by a dual-armed robot system. In the 2nd topic, a motion planning based on the rolling contact in a grasp and manipulation system and control of spherical robot were proposed. In 3rd topic, the transition control among equilibria in an acrobot based on nonlinear optimal controls was proposed.

Academic Significance and Societal Importance of the Research Achievements

人間は移動では歩行動作，道具を扱う際では把握・操り，素早い正確な動作では投げ・捕獲，協調的動作ではジャグリングといった様々な運動を行うことができ，人間の巧みさを表すものとして技巧的動作と呼ばれている．詳しくは，身体(神経系，筋肉系)，脳(知覚情報処理系)と環境力学系が結合され，ある種の安定なダイナミクスを有する相互作用が確立されることにより，身体各部位とその間に形成された秩序が技巧的動作とされている．このような相互作用の創発メカニズムを解明することで人間の技巧的動作を明らかにすると共に，工学的実現手法を開発することで，未知環境で活動するロボットの実現に大きく近づく．

Research Products

• [Journal Article] Manipulation Control of Grasped Object based on Nonholonomy of Rolling Contact by Two-fingered Robot Hand with Constraints on Configuration Coordinates (2018)
  • Author(s): 中島明
  • Journal Title: Transactions of the Society of Instrument and Control Engineers Volume: 54 Issue: 3 Pages: 320-330
  • DOI: 10.9746/sicetr.54.320
  • NAID: 130006512928
  • ISSN: 0453-4654, 1883-8189
  • Peer Reviewed / Open Access
• [Presentation] 2-Dimensional Dynamical Modeling and Control of Spherical Robot Driven by Inner Car (2018)
  • Author(s): Akira Nakashima, Sotaro Maruo, Ryoma Nagai and Noboru Sakamoto
  • Organizer: ROBIO 2018 - IEEE International Conference on Robotics and Biomimetics
  • Int'l Joint Research
• [Presentation] PIO現象を抑制した横系航空機モデルに対する非線形最適制御器設計 (2018)
  • Author(s): 鈴木 達朗，Anh Tuan Tran，坂本 登，中島 明
  • Organizer: 第61回自動制御連合講演会
• [Presentation] 安定多様体法を用いたアクロボットの平衡姿勢間遷移制御 ー制御系設計と検証実験ー (2018)
  • Author(s): 小塚健太，坂本登，中島明，鈴木達郎，米川翔太，西田裕貴，宮野峻
  • Organizer: 第 5 回計測自動制御学会制御部門マルチシンポジウム
• [Presentation] 把持・操り系における転がり運動を用いた運動計画の一手法 (2017)
  • Author(s): 中島明
  • Organizer: 第4回計測自動制御学会制御部門マルチシンポジウム
  • Place of Presentation: 岡山大学津島キャンパス
  • Year and Date: 2017-03-06
• [Presentation] A motion planning for grasp and manipulation system based on rolling motion (2017)
  • Author(s): Akira Nakashima
  • Organizer: 2017 IEEE Conference on Control Technology and Applications (CCTA)
  • Int'l Joint Research
• [Presentation] A Motion Planning of Dual Arm-Hand Manipulators for Origami-Folding Based on a Probabilistic Model of Constraint Transitions within Human Behavior (2016)
  • Author(s): Akira Nakashima, Yoshihiro Iwanaga, Yoshikazu Hayakawa
  • Organizer: IEEE International Conference on Robotics and Biomimetics
  • Place of Presentation: Qingdao, China
  • Year and Date: 2016-12-03
  • Int'l Joint Research