• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to previous page

Condition to select appropriate control policies for complex assembly based on object structure with constraints and compliance

Research Project

Project/Area Number 20700189
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeSingle-year Grants
Research Field Perception information processing/Intelligent robotics
Research InstitutionNational Institute of Advanced Industrial Science and Technology

Principal Investigator

YAMANOBE Natsuki  National Institute of Advanced Industrial Science and Technology, 知能システム研究部門, 研究員 (90455436)

Project Period (FY) 2008 – 2010
Project Status Completed (Fiscal Year 2010)
Budget Amount *help
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2010: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2009: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2008: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
Keywords知能ロボティクス / 技能解析 / スキルトランスファー / 組立作業 / 力制御 / 作業状態認識 / 対象物形状 / コンプライアンス構造
Research Abstract

This research aims to develop a method to plan robotic motions for complex assembly. To achieve complex assembly, appropriate control policies need to be selected based on task conditions. Thus, object structure represented by constraints and compliance between target objects is proposed to develop a task procedure and analyze a target task. In this research period, I have focused on dry battery insertion for presenting an example. Control policies for the task were obtained based on human demonstration and conditions for selecting policies were determined based on the object structure. Finally, it is shown that the target task was achieved with the developed assembly motion by experiments.

Report

(4 results)
  • 2010 Annual Research Report   Final Research Report ( PDF )
  • 2009 Annual Research Report
  • 2008 Annual Research Report
  • Research Products

    (6 results)

All 2009 2008

All Journal Article (4 results) (of which Peer Reviewed: 4 results) Presentation (2 results)

  • [Journal Article] Analysis of Assembly Skill s for Dry Battery Insertion based on Force Control Parameters2009

    • Author(s)
      Natsuki Yamanobe, Hiromitsu Fujii, T amio Arai
    • Journal Title

      Proc. of IEEE International Conference on Robotics an d Biomimetics

      Pages: 191-197

    • Related Report
      2010 Final Research Report
    • Peer Reviewed
  • [Journal Article] Analysis of Assembly Skills for Dry Battery Insertion based on Force Control Parameters2009

    • Author(s)
      Natsuki Yamanobe, Hiromitsu Fujii, Tamio Arai
    • Journal Title

      Proc. Of IEEE International Conference on Robotics and Biomimetics

      Pages: 191-197

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Motion Genera tion for Clutch Assembly by Integration of Multiple Existing Policies2008

    • Author(s)
      Natsuki Yamanobe, Hiromitsu Fujii, T amio Arai, Ryuichi Ueda
    • Journal Title

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

      Pages: 3218-3223

    • Related Report
      2010 Final Research Report
    • Peer Reviewed
  • [Journal Article] Motion Generation for Clutch Assembly by Integration of Multiple Existing Policies2008

    • Author(s)
      Natsuki Yamanobe, Hiromitsu Fujii, Tamio Arai, Ryuichi Ueda
    • Journal Title

      Proc. Of 2208 IEEE/RSJ International Conference on Intelligent Robots and Systems

      Pages: 3218-3223

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Presentation] 対象物の形状と構造に基づく組立作業分類方法の提案2009

    • Author(s)
      山野辺夏樹, 音田弘, 尹祐根, 神徳徹雄
    • Organizer
      精密工学会春季大会
    • Place of Presentation
      東京
    • Year and Date
      2009-03-11
    • Related Report
      2010 Final Research Report
  • [Presentation] 対象物の形状と構造に基づく組立作業分類方法の提案2009

    • Author(s)
      山野辺夏樹, 音田弘, 尹祐根, 神徳徹雄
    • Organizer
      2009年度精密工学会春季大会
    • Place of Presentation
      東京
    • Year and Date
      2009-03-11
    • Related Report
      2008 Annual Research Report

URL: 

Published: 2008-04-01   Modified: 2016-04-21  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi