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Development of Robotic Hand System with Soft Skin for Realizing Reliable Grasping and Manipulation

Research Project

Project/Area Number 17360114
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionRitsumeikan University

Principal Investigator

YOSHIKAWA Tsuneo  Ritsumeikan University, Department of Human and Computer Intelligence, Professor (60026177)

Co-Investigator(Kenkyū-buntansha) YOKOKOHJI Yasuyoshi  Kyoto University, Graduate School of Engineering, Associate Professor (30202394)
MITSUDA Takashi  Ritsumeikan University, Department of Human and Computer Intelligence, Associate Professor (30335591)
KOEDA Masanao  Ritsumeikan University, Department of Human and Computer Intelligence, Lecturer (10411232)
Project Period (FY) 2005 – 2007
Project Status Completed (Fiscal Year 2007)
Budget Amount *help
¥16,150,000 (Direct Cost: ¥15,700,000、Indirect Cost: ¥450,000)
Fiscal Year 2007: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Fiscal Year 2006: ¥7,100,000 (Direct Cost: ¥7,100,000)
Fiscal Year 2005: ¥7,100,000 (Direct Cost: ¥7,100,000)
KeywordsRobot / Hand / Grasping / Manipulation / Soft skin / Soft finger
Research Abstract

The goal of this research is to develop a robotic hand system covered my soft skin, which is softer than usually considered, for the purpose of reliable and safe realization of grasping and manipulation of objects and to establish a control methodology of this hand system. Taking advantage of this soft skin structure, this system can realize both soft grasp state that largely complies with external forces exerted to the grasped object, and hard grasp state that hardly complies with external forces even when they are large. Moreover, due to the deformation of the soft finger skin, the contact area between the object and fingers is larger than the case of hard fingers, contributing to reliable grasping and manipulation. Grasping of objects with fingers placed on their edges will also be possible.
A brief overview of the results obtained this year is as follows.
(1) Development of a control algorithm for the hand-arm system : To improve adaptability of the system to the work environment, a function of adjusting the position and orientation of the arm portion based on a partial task space trajectory data during performing the task is integrated into the control algorithm.
(2) Experiment and evaluation of grasping and manipulation tasks : The validity of the control algorithm developed in(1) has been experimentally demonstrated for the task of turning cranks.
(3) Grasping unknown objects based on visual information : A procedure has been established for recognizing the shape of an unknown object from the visual information obtained by an omni-directional camera attached to the hand, and for obtaining the best positions for grasping it by a multi-fingered hand. The usefulness of the procedure has been demonstrated by some experiments.
(4) Discussion and preparing report : Results obtained from the research work during the last three years have been reviewed and summarized. Some future research directions have been pointed out. Final report is now being prepared.

Report

(4 results)
  • 2007 Annual Research Report   Final Research Report Summary
  • 2006 Annual Research Report
  • 2005 Annual Research Report
  • Research Products

    (16 results)

All 2007 2006 2005

All Journal Article (11 results) (of which Peer Reviewed: 3 results) Presentation (5 results)

  • [Journal Article] Grasping Optimization using a Required External Force Set2007

    • Author(s)
      Tetsuyou Watanabe
    • Journal Title

      IEEE Trans.Automation Science & Engineering 4

      Pages: 52-66

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
    • Peer Reviewed
  • [Journal Article] 能動受動混合拘束下での物体操作2007

    • Author(s)
      渡辺 哲陽
    • Journal Title

      日本ロボット学会誌 25

      Pages: 643-650

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Annual Research Report 2007 Final Research Report Summary
    • Peer Reviewed
  • [Journal Article] Objict Manipulation under Hybrid Active/Passive closure2007

    • Author(s)
      Tetsuyou Watanabe
    • Journal Title

      Journal of the Robotics Society of Japan vol.25, No.4

      Pages: 643-650

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Journal Article] Grasping Optimization using a Required External Force Set2007

    • Author(s)
      Tsuneo Yoshikawa
    • Journal Title

      IEEE Transactions on Automation Sciemce and Engineering 4・1

      Pages: 52-66

    • Related Report
      2006 Annual Research Report
  • [Journal Article] 能動受動混合拘束の力学2006

    • Author(s)
      渡辺 哲陽
    • Journal Title

      日本ロボット学会誌 24

      Pages: 131-139

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
    • Peer Reviewed
  • [Journal Article] Stable Grasp and Manipulation in 3D Space with 2-Soft-Fingered Robot Hand2006

    • Author(s)
      Tsuneo Yoshikawa, Masanao Koeda
    • Journal Title

      CD-Rom Preprints of the 7th International Symposium on Experimental Robotics

    • NAID

      130004667780

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Stability Improvement Using Soft Sole on Humanoid Robot.2006

    • Author(s)
      Masanao Koeda, Tsuneo Yoshikawa
    • Journal Title

      Proceedings of 9th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines

      Pages: 162-167

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Coping with Time Delay in Robotic Systems and Haptic Interfaces2006

    • Author(s)
      Tsuneo Yoshikawa
    • Journal Title

      CD-Rom Proc. of the 6th IFAC Workshop on Time Delay Systems

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Object Manipulation under Hybrid Active/Passive Closure2005

    • Author(s)
      Tsuneo Yoshikawa
    • Journal Title

      Proc.of the 2005 IEEE International Conference on Robotics and Automation

      Pages: 1025-1032

    • NAID

      120006665596

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 軌道上組立作業ロボット用エンドエフェクタの開発2005

    • Author(s)
      吉川恒夫
    • Journal Title

      日本航空宇宙学会論文集 53・614

      Pages: 130-138

    • NAID

      10015421571

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Robot Perception of Impedance2005

    • Author(s)
      Tsuneo Yoshikawa
    • Journal Title

      Journal of Robotic Systems 22・5

      Pages: 231-247

    • Related Report
      2005 Annual Research Report
  • [Presentation] A Quantitative Evaluation Method of Handedness Using Haptic Virtual Reality Technology2007

    • Author(s)
      Tsuneo Yoshikawa
    • Organizer
      16th IEEE International Symposium on Robot & Human Interactive Communication(IEEE ROMAN 2007)
    • Place of Presentation
      Jeju, Korea
    • Year and Date
      2007-08-27
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] A Quantitative Evaluation Method of Handedness Using Haptic Virtual Rerality Technology2007

    • Author(s)
      Tsuneo Yoshikawa
    • Organizer
      16th IEEE International SymPosium on Robot & Human Interactive Communication(IEEEROMAN2007)
    • Place of Presentation
      Jeju, korea
    • Year and Date
      2007-08-27
    • Related Report
      2007 Annual Research Report
  • [Presentation] Grasping and Manipulation by Soft-Fingered Robot Hands2007

    • Author(s)
      Tsuneo Yoshikawa
    • Organizer
      CD-Rom Proc.13th Int.Conf.Advanced Robotics
    • Place of Presentation
      Jeju,Korea
    • Year and Date
      2007-08-24
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Grasping and Manipulation by Soft-Fingered Robot Hands2007

    • Author(s)
      Tsuneo Yoshikawa
    • Organizer
      13th International Conference on Advanced Robotics(ICAR 2007)
    • Place of Presentation
      Jeju, Korea
    • Year and Date
      2007-08-24
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Grasping and Manipulation by Soft-Fingered Robot Hands2007

    • Author(s)
      Tsuneo Yoshikawa
    • Organizer
      13th International Conference on Advanced Robotics(ICAR2007)
    • Place of Presentation
      Jeju, korea
    • Year and Date
      2007-08-24
    • Related Report
      2007 Annual Research Report

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Published: 2005-04-01   Modified: 2016-04-21  

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