| Budget Amount *help |
¥3,380,000 (Direct Cost: ¥2,600,000、Indirect Cost: ¥780,000)
Fiscal Year 2017: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2016: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
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| Outline of Final Research Achievements |
Integrated suction hand consisting of forced adsorption and pinching multi fingers was developed, and bending, short range, proximity tactile sensor was incorporated here. It shows that the product can be taken out from the narrow space by adding the extendable shaft to the suction part, and by using multi-fingered pinching, the article is prevented from falling. In addition, we designed an algorithm to design primitive reflecting motion according to the foreshock response obtained via the near range tactile sensor, thereby realizing trial - and - error grasping along the shape of the object. In addition, by acquiring a recognition behavior network to predict failure before learning, applying only the hand attached operation of the double arm only when the failure probability is high, thereby suppressing the extension of the work execution time , It became possible to secure high operational stability.
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