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Development of a visualization system of the distributed impedance on a surface using a robot that can actively contact to environments and its use

Research Project

Project/Area Number 17H04698
Research Category

Grant-in-Aid for Young Scientists (A)

Allocation TypeSingle-year Grants
Research Field Intelligent robotics
Research InstitutionOsaka University

Principal Investigator

Nakata Yoshihiro  大阪大学, 基礎工学研究科, 助教 (80720664)

Project Period (FY) 2017-04-01 – 2020-03-31
Project Status Completed (Fiscal Year 2019)
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)
Keywords能動的接触 / 一体構造空電ハイブリッドアクチュエータ / インピーダンス / 物理的インタラクション / 一体構造空電ハイブリッド直動アクチュエータ
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.

Academic Significance and Societal Importance of the Research Achievements

ロボットの社会実装にとって環境への接触は避けては通れない重要課題である.近年,人と協働する人共存型ロボットが開発されているが,産業用ロボットをベースとして,モータの出力を制限し,トルクセンサによるフィードバックによって関節を柔軟に動かすため,可搬重量や制御周波数が小さくなる.
申請者の開発したアクチュエータおよびシステムは,先端の接触力を0から物体の可搬に必要な力まで自由に,高速に調整できる.このようにロボットによる高度な力加減の調整が実現されれば,研磨など状況に応じた繊細な力の調整が必要な熟練者による作業の代替などの応用が考えられる.

Report

(4 results)
  • 2019 Annual Research Report   Final Research Report ( PDF )
  • 2018 Annual Research Report
  • 2017 Annual Research Report

Research Products

(9 results)

All 2019 2018 Other

All Journal Article (1 results) (of which Peer Reviewed: 1 results) Presentation (4 results) (of which Int'l Joint Research: 2 results) Remarks (2 results) Patent(Industrial Property Rights) (2 results) (of which Overseas: 1 results)

  • [Journal Article] Force Estimation Method for a Magnetic Lead-Screw-Driven Linear Actuator2018

    • Author(s)
      Heya Akira、Nakata Yoshihiro、Sakai Masahiko、Ishiguro Hiroshi、Hirata Katsuhiro
    • Journal Title

      IEEE Transactions on Magnetics

      Volume: 54 Pages: 1-5

    • DOI

      10.1109/tmag.2018.2845455

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed
  • [Presentation] コンシークエント型磁気ねじの開発2019

    • Author(s)
      阿部哲也, 部矢明, 仲田佳弘, 平田勝弘, 石黒浩
    • Organizer
      電気学会 リニアドライブ研究会
    • Related Report
      2018 Annual Research Report
  • [Presentation] Analysis of a Consequent-Pole Magnetic Lead Screw2018

    • Author(s)
      A. Heya, Y. Nakata, M. Sakai, T. Abe, H. Ishiguro, and K. Hirata
    • Organizer
      IEEE International Magnetics Conference 2018
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Force Estimation Method for a Magnetic Lead-Screw-Driven Linear Actuator2018

    • Author(s)
      Akira Heya, Yoshihiro Nakata, Masahiko Sakai, Hiroshi Ishiguro, Katsuhiro Hirata
    • Organizer
      IEEE Intermag 2018
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 磁気ねじ駆動リニアアクチュエータのセンサレス力制御の提案2018

    • Author(s)
      部矢 明, 仲田 佳弘, 酒井 昌彦, 石黒 浩, 平田 勝弘
    • Organizer
      電気学会 リニアドライブ研究会
    • Related Report
      2017 Annual Research Report
  • [Remarks] 仲田佳弘のホームページ

    • URL

      https://yoshihiro-nakata.net/

    • Related Report
      2019 Annual Research Report 2018 Annual Research Report
  • [Remarks] 仲田佳弘のホームページ

    • URL

      http://yoshihiro-nakata.net/

    • Related Report
      2017 Annual Research Report
  • [Patent(Industrial Property Rights)] 磁気式動力伝達構造体2019

    • Inventor(s)
      仲田佳弘, 石黒浩, 平田勝弘, 酒井昌彦, 部矢明, 阿部哲也
    • Industrial Property Rights Holder
      国立大学法人大阪大学
    • Industrial Property Rights Type
      特許
    • Filing Date
      2019
    • Related Report
      2019 Annual Research Report
    • Overseas
  • [Patent(Industrial Property Rights)] 磁気式動力伝達構造体2018

    • Inventor(s)
      仲田佳弘, 石黒浩, 平田勝弘, 酒井昌彦, 部矢明, 阿部哲也
    • Industrial Property Rights Holder
      国立大学法人大阪大学
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2018-202245
    • Filing Date
      2018
    • Related Report
      2018 Annual Research Report

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Published: 2017-04-28   Modified: 2021-02-19  

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