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Research on the Following Motion Control Method for Human Symbiotic Robots

Research Project

Project/Area Number 19206028
Research Category

Grant-in-Aid for Scientific Research (A)

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

Principal Investigator

SUGANO Shigeki  Waseda University, 理工学術院, 教授 (00187634)

Co-Investigator(Kenkyū-buntansha) 岩田 浩康  早稲田大学, 高等研究所, 准教授 (30339692)
Project Period (FY) 2007 – 2010
Project Status Completed (Fiscal Year 2010)
Budget Amount *help
¥45,890,000 (Direct Cost: ¥35,300,000、Indirect Cost: ¥10,590,000)
Fiscal Year 2010: ¥9,230,000 (Direct Cost: ¥7,100,000、Indirect Cost: ¥2,130,000)
Fiscal Year 2009: ¥10,530,000 (Direct Cost: ¥8,100,000、Indirect Cost: ¥2,430,000)
Fiscal Year 2008: ¥12,220,000 (Direct Cost: ¥9,400,000、Indirect Cost: ¥2,820,000)
Fiscal Year 2007: ¥13,910,000 (Direct Cost: ¥10,700,000、Indirect Cost: ¥3,210,000)
Keywordsロボティクス / 精密機械システム / 人間機械システム / 人間共存ロボット / 安全 / システムインテグレーション
Research Abstract

We constructed the robot system to follow the human contact with low contact force, which was a combination of passive mechanisms (collision safety skin and passive joint), quantification module of contact state and whole-body motion control.

Report

(6 results)
  • 2010 Annual Research Report   Final Research Report ( PDF )
  • 2009 Annual Research Report   Self-evaluation Report ( PDF )
  • 2008 Annual Research Report
  • 2007 Annual Research Report
  • Research Products

    (39 results)

All 2010 2009 2008 Other

All Journal Article (16 results) (of which Peer Reviewed: 16 results) Presentation (15 results) Book (2 results) Remarks (4 results) Patent(Industrial Property Rights) (2 results)

  • [Journal Article] A Methodology for Setting Grasping Force for Picking up an Object with Unknown Weight, Friction, and Stiffness2010

    • Author(s)
      Taisuke SUGAIWA, Genki FUJII, Hiroyasu IWATA, Shigeki SUGANO
    • Journal Title

      Proceeding of 10th IEEE-RAS International Conference on Humanoid Robots

      Pages: 288-293

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Motion-planning Method with Active Body-Environment Contact for a Hand-Arm System including Passive Joints2010

    • Author(s)
      Taisuke SUGAIWA, Masanori NEZUMIYA, Hiroyasu IWATA, Shigeki SUGANO
    • Journal Title

      Proceeding of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

      Pages: 69-74

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Pressure Control on Whole Surface of Humanmimetic Multi-fingered Hand with Tactile Sensing2010

    • Author(s)
      Taisuke SUGAIWA, Kunihiro IWAMOTO, Hiroyasu IWATA, Shigeki SUGANO
    • Journal Title

      Proceedings of SICE Annual Conference 2010

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] nd-Arm Coordinated Manipulation Using Active Body-Environment Contact2009

    • Author(s)
      S.SUGANO, T.SUGAIWA, H.IWATA
    • Journal Title

      SICE Journal of Control, Measurement, and System Integration Vol.2, No.6

      Pages: 348-356

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Design of Human Symbiotic Robot TWENDY-ONE2009

    • Author(s)
      S.SUGANO, H.IWATA
    • Journal Title

      Proc.of IEEE International Conference on Robotics and Automation

      Pages: 580-586

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A Motion Control for Dexterous Manipulationwith Human Mimetic Hand-Arm System2009

    • Author(s)
      S.SUGANO, T.SUGAIWA, H.IWATA
    • Journal Title

      Proc.of IEEE-RAS International Conference on Humanoid Robots

      Pages: 653-659

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Dexterous Hand-Arm Coordinated Manipulation using Active Body-Environment Contact2009

    • Author(s)
      S.SUGANO, T.SUGAIWA, H.IWATA
    • Journal Title

      Proc.of IEEE/RSJ International Conference on Intelligent Robots and Systems

      Pages: 4168-4173

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Shock Absorbing Skin Design for Human Symbiotic Robot at the Worst Case Collision2008

    • Author(s)
      T.SUGAIWA, H.IWATA, S.SUGANO
    • Journal Title

      Proceeding of IEEE-RAS International Conference on Humanoid Robots

      Pages: 481-486

    • Related Report
      2010 Final Research Report
    • Peer Reviewed
  • [Journal Article] New Visco-Elastic Mechanism Design for Flexible Joint Manipulator2008

    • Author(s)
      T.SUGAIWA, H.IWATA, S.SUGANO
    • Journal Title

      Proceeding of IEEE-ASME International Conference on Advanced Intelligent Mechatronics

      Pages: 235-240

    • Related Report
      2010 Final Research Report
    • Peer Reviewed
  • [Journal Article] Whole-body Coordinated Control for Task Execution and Human Following2008

    • Author(s)
      H.IWATA, S.SUGANO
    • Journal Title

      Proceeding of CISM-IFToMM Symposium on the Theory and Practice of Robots and Manipulators

      Pages: 209-216

    • Related Report
      2010 Final Research Report
    • Peer Reviewed
  • [Journal Article] Shock Absorbing Skin Design for Human Symbiotic Robot at the Worst Case Collision2008

    • Author(s)
      T. SUGAIWA, H. IWATA, S. SUGANO
    • Journal Title

      Proc.of Ieee-RAS Int.Conf.on Humanoid Robots (Humanoi ds2008)

    • Related Report
      2009 Self-evaluation Report
    • Peer Reviewed
  • [Journal Article] New Visco-Elastic Mechanism Design for Flexible Joint Manipulator2008

    • Author(s)
      T. SUGAIWA, H. IWATA, S. SUGANO
    • Journal Title

      Proc.of IEEE/ASME Int.Conf.on Advanced Intelligent Mechatronics (AIM2008)

      Pages: 235-240

    • Related Report
      2009 Self-evaluation Report
    • Peer Reviewed
  • [Journal Article] Whole-body Coordinated Control for Task Execution and Human Following2008

    • Author(s)
      H. IWTA, S. SUGANO
    • Journal Title

      Proc.of a CISMIFToMM Synp.on the Theory and Practice of Robots and Manipulators (RCMANSY 08)

      Pages: 209-216

    • Related Report
      2009 Self-evaluation Report
    • Peer Reviewed
  • [Journal Article] New Visoo-Elastic Mechanism Design for Flexible Joint Manipulator2008

    • Author(s)
      S. SUGANO, H. IWATA, et al.
    • Journal Title

      Proc. of lEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics

      Pages: 235-240

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Shock Absorbing Skin Design for Human Symbiotic Robot at the Worst Case Collision2008

    • Author(s)
      S. SUGANO, H. IWATA, et al.
    • Journal Title

      Proc. of lEEE-RAS Int. Conf. on Humanoid Robots (Humanoids2008)

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Whole-body Coordinated Control for Task Execution and Human Following2008

    • Author(s)
      S. SUGANO, H. IWATA, et al.
    • Journal Title

      Proc. of CISM-IFToMM Symp. on the Theory and Practice of Robots and Manipulators (ROMANSY' 08)

      Pages: 209-216

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Presentation] 人間形ハンド・アームによる道具の微細操作に関する研究-受動柔軟性を活用した動作計画及び把持・作用力・軌道制御-2010

    • Author(s)
      菅野重樹, 菅岩泰亮, 江崎佳奈子, 鼠家正則, 岩田浩康
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会講演論文集
    • Place of Presentation
      旭川大雪アリーナ
    • Related Report
      2010 Annual Research Report
  • [Presentation] 未知重量・摩擦・剛性対象物に対する把持力設定手法-受動柔軟性を利用した持ち上げ前特性計測の活用-2010

    • Author(s)
      菅野重樹, 菅岩泰亮, 藤井元気, 鹿貫悠多, 加納弘之, 岩田浩康
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会講演論文集
    • Place of Presentation
      旭川大雪アリーナ
    • Related Report
      2010 Annual Research Report
  • [Presentation] 人間共存ロボットの主体的判断による知能移動2010

    • Author(s)
      菅野重樹, 菅岩泰亮, 岩田浩康, 市川健太郎, 金道敏樹
    • Organizer
      第28回日本ロボット学会学術講演会論文集
    • Place of Presentation
      名古屋工業大学
    • Related Report
      2010 Annual Research Report
  • [Presentation] 人間とロボットとの協調移動制御~優先関係と働きかけの導入~2010

    • Author(s)
      菅野重樹, 菅岩泰亮, 岩田浩康, 市川健太郎, 金道敏樹
    • Organizer
      第11回計測自動制御学会システムインテグレーション部門学術講演会講演論文集
    • Place of Presentation
      東北大学
    • Related Report
      2010 Annual Research Report
  • [Presentation] 人間共存ロボットの觝触適応行動~第26報:作業拘束の段階的解除による人間追従性と作業性の両立手法~2009

    • Author(s)
      菅野重樹, ほか
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会講演論文集
    • Place of Presentation
      福岡
    • Related Report
      2010 Final Research Report
  • [Presentation] 人間共存ロボットの觝触適応行動2009

    • Author(s)
      岩田浩康, 山下福太郎, 菅野重樹
    • Organizer
      ~第26報 : 作業拘束の段階的解除による人間追従性と作業性の両立手法~
    • Place of Presentation
      日本機械学会ロボテイクス・メカトロニクス講演会講演論文集
    • Related Report
      2009 Self-evaluation Report
  • [Presentation] 人間共存ロボットの觝触適応行動 ~第26報:作業拘束の段階的解除による人間追従性と作業性の両立手法~2009

    • Author(s)
      菅野重樹, 岩田浩康
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Place of Presentation
      福岡国際会議場
    • Related Report
      2009 Annual Research Report
  • [Presentation] 全面柔軟被覆を備えた人間形ハンドのための接触頻度・寄与度に基づく触覚センサ設計2009

    • Author(s)
      菅野重樹, 岩田浩康
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Place of Presentation
      福岡国際会議場
    • Related Report
      2009 Annual Research Report
  • [Presentation] 受動柔軟性を活用したハンド持ち替え制御と安定化手法2009

    • Author(s)
      菅野重樹, 岩田浩康
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Place of Presentation
      福岡国際会議場
    • Related Report
      2009 Annual Research Report
  • [Presentation] 能動的な身体環境接触を利用した手腕協調制御2009

    • Author(s)
      菅野重樹, 菅岩泰亮, 岩田浩康
    • Organizer
      第27回日本ロボット学会学術講演会
    • Place of Presentation
      横浜国立大学
    • Related Report
      2009 Annual Research Report
  • [Presentation] 把持安定性と引裂耐性を 考慮した指先柔軟肉設計2009

    • Author(s)
      菅野重樹, 岩田浩康
    • Organizer
      第10回計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      芝浦工業大学
    • Related Report
      2009 Annual Research Report
  • [Presentation] 円柱形対象物の重量による転がりを利用した握り込み制御2009

    • Author(s)
      菅野重樹, 菅岩泰亮, 岩田浩康
    • Organizer
      第10回計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      芝浦工業大学
    • Related Report
      2009 Annual Research Report
  • [Presentation] 人間共存ロボットTWENDY-ONEのデザイン2008

    • Author(s)
      菅野重樹, 岩田浩康, ほか
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会講演論文集(RobomeG08)
    • Place of Presentation
      ホテルメトロポリタン長野
    • Year and Date
      2008-06-05
    • Related Report
      2008 Annual Research Report
  • [Presentation] 小型・軽量な柔軟関節マニピュレータのための粘弾性機構設計2008

    • Author(s)
      菅野重樹, ほか
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会講演論文集
    • Place of Presentation
      長野
    • Related Report
      2010 Final Research Report
  • [Presentation] リスクカーブに基づく衝突安全被覆設計2008

    • Author(s)
      菅野重樹, ほか
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会講演論文集
    • Place of Presentation
      長野
    • Related Report
      2010 Final Research Report
  • [Book] 人間共存ロボットTWENDY-ONE~汎用生活支援ツールとしての可能性(vol.1, no.9)2008

    • Author(s)
      菅野重樹, ほか
    • Publisher
      福祉介護機器Techno+
    • Related Report
      2010 Final Research Report
  • [Book] 福祉介護機器Teohno+2008

    • Author(s)
      菅野重樹, 岩田浩康, ほか
    • Total Pages
      6
    • Publisher
      日本工業出版
    • Related Report
      2008 Annual Research Report
  • [Remarks]

    • URL

      http://twendyone.com/paper.html

    • Related Report
      2010 Annual Research Report
  • [Remarks]

    • URL

      https://www.wnp7.waseda.jp/Rdb/app/ip/ipi0211.html?lang_kbn=0&kensaku_no=2104

    • Related Report
      2009 Annual Research Report
  • [Remarks]

    • URL

      http://twendyone.com/paper.html

    • Related Report
      2009 Annual Research Report
  • [Remarks]

    • URL

      http://twendyone.com/paper.html

    • Related Report
      2008 Annual Research Report
  • [Patent(Industrial Property Rights)] ロボット装置2008

    • Inventor(s)
      菅野重樹, 他
    • Industrial Property Rights Holder
      早稲田大学, 他
    • Industrial Property Number
      2008-230155
    • Filing Date
      2008-09-08
    • Related Report
      2009 Self-evaluation Report
  • [Patent(Industrial Property Rights)] ロボット装置2008

    • Inventor(s)
      菅野重樹, 岩田浩康, ほか
    • Industrial Property Rights Holder
      早稲田大学
    • Industrial Property Number
      2008-230155
    • Filing Date
      2008-09-08
    • Related Report
      2008 Annual Research Report

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Published: 2007-04-01   Modified: 2016-04-21  

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