| Project/Area Number |
18K04051
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Review Section |
Basic Section 20020:Robotics and intelligent system-related
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| Research Institution | Okayama University |
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Principal Investigator |
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| Project Period (FY) |
2018-04-01 – 2021-03-31
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| Project Status |
Completed (Fiscal Year 2020)
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| Budget Amount *help |
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2020: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2019: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2018: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
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| Keywords | 柔軟物体ハンドリング / マニピュレータロボット / 位相幾何 / 距離カメラ / ロボットマニピュレータ / プランニング / 位相幾何学 |
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| Outline of Final Research Achievements |
In this study, we proposed a new shape abstraction data for executing the string knot operation, and proposed an operation planning method using that. The proposed shape abstraction data is called “Face List” because the faces included in the string projection drawing are described in a list format. The planning method for string shape manipulation in this study uses P-data, which is a conventional string phase representation method, and Face List together to express the state transition of knotting by ‘Reidemeister Move’ and ‘Cross Action’ as a tree diagram. The correct shape changing to the target shape can be controlled by supplementing the information that cannot be described by P-data alone with the Face List. Furthermore, the difficulty of each shape operation is taken as the cost to select the optimal sequential shape operation, and the first shape operation of it is performed to the actual string using the motion generation algorithm.
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| Academic Significance and Societal Importance of the Research Achievements |
本研究ではひも結び操作を実行するための新しい形状抽象化データとこれを用いた操作計画法を提案した．ひものような変形する物体は代表点を操作するだけでは，目的形状に操作できない．様々に変形する形状を抽象化し，例えば結ばれている状態をどのように表現するかが問題となる．ここではその一例として，従来研究で提案されているP-dataと我々が提案するP-dataを組み合わせる手法を提案した．これにより，ひもの交点の重なりからどのように絡まっているかとうことが一意に表現でき，操作手順の計画生成に応用できる．人間が思考していると同様な数値だけでは表現できない位相情報をロボットの動作計画に組み込んだことが新しい．
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