| Budget Amount *help |
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2010: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2009: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2008: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
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| Research Abstract |
The purpose of this project is to improve the functions of multi-fingered hands by developing the schema for object grasping and manipulation with tools such as tweezers controlled by multi-fingered robot hands. Its final goal is to develop multi-fingered robot hand systems which are available at the human environment such as home, medicine and welfare. The main contributions are as follows ; establishment of evaluation schema for object manipulability, establishment of schema for realizing object grasping even when contact uncertainties exist, development of database for object grasping, and establishment of the method to plan object grasping and manipulation based on database searching.
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