Dynamic contact modeling of a soft fingertip and realization of dynamic object grasping for a multi-fingered robotic hand
| Project/Area Number |
20360117
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Kyushu University |
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Principal Investigator |
TAHARA Kenji Kyushu University, システム情報科学研究院, 特任准教授 (80392033)
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| Co-Investigator(Kenkyū-buntansha) |
ARTMOTO Suguri 立命館大学, 総川理工学研究機構, 教授 (00029399)
YOSHIDA Morio 独立行政法人理化学研究所, 環境適応ロボットシステム研究チーム, 研究員 (20455372)
NISHIDA Gou 独立行政法人理化学研究所, 環境適応ロボットシステム研究チーム, 研究員 (80435669)
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| Project Period (FY) |
2008 – 2010
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| Project Status |
Completed (Fiscal Year 2010)
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| Budget Amount *help |
¥19,760,000 (Direct Cost: ¥15,200,000、Indirect Cost: ¥4,560,000)
Fiscal Year 2010: ¥2,860,000 (Direct Cost: ¥2,200,000、Indirect Cost: ¥660,000)
Fiscal Year 2009: ¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2008: ¥12,090,000 (Direct Cost: ¥9,300,000、Indirect Cost: ¥2,790,000)
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| Keywords | ロボティクス / ロボットハンド / 柔軟モデル / ダイナミクス / 動的物体把持 / 柔軟指 / ポートハミルトン系 / 力/トルク平衡 / 3本指ロボット / リーマン距離 / 任意形状物体 / 外界センサーレス把持 / カ / トルク平衡 / 力 |
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| Research Abstract |
We extend the dynamic stable object grasping method by a pair of robotic fingers, in which we have been proposed previously, to that by a triple robotic fingers. A regrasping task could be accomplished by this extension and it realized a drastic object attitude control. An external sensorless dynamic object manipulation method was newly proposed, which can realize an object position and attitude control without use of any external sensor. Another dynamic object grasping and manipulation method by using a novel robotic fingers system, in which each fingertip owns torsional joint, was newly proposed, and its usefulness was verified through experiments. A new object grasping model, in which both contour of fingertip and object are arbitrary smooth curve, was newly proposed, and its effectiveness was verified through numerical simulations.
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Report
(4 results)
Research Products
(67 results)
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[Book] Robot Vision2010
Author(s)
S.Arimoto, M.Yoshida, M.Sekimoto
Total Pages
614
Publisher
Computational modeling, visualization, and control of 2-D and 3-D grasping under rolling contacts
Related Report
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