| Budget Amount *help |
¥23,790,000 (Direct Cost: ¥18,300,000、Indirect Cost: ¥5,490,000)
Fiscal Year 2019: ¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2018: ¥7,540,000 (Direct Cost: ¥5,800,000、Indirect Cost: ¥1,740,000)
Fiscal Year 2017: ¥11,440,000 (Direct Cost: ¥8,800,000、Indirect Cost: ¥2,640,000)
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| Outline of Final Research Achievements |
In order for a robot to make safe contact with people and objects around it, it is essential to recognize the deformation direction and hardness of the contact object. For this reason, it is crucial to realize a function such as a human tactile exploration for unknown objects. In this research, I develop and evaluate a distributed impedance scan system on a surface by a robotic arm mounted a pneumatic-electromagnetic hybrid linear actuator with an integrated structure. The robotic arm actively contacts to a surface via the actuator. The actuator can precisely adjust the force over a wide range. In order to keep the contact force constant when the system scans an object, the performance of the system was evaluated by measuring the change in the contact force in actual contact with the environment.
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