Object Manipulation by Multi-fingered Robot Hand with Soft Fingertips

• Project/Area Number: 20760163
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Gifu University
• Principal Investigator: UEKI Satoshi Gifu University, 産官学融合本部, 産官学融合本部講師(中核的研究機関研究員) (50467213)
• Project Period (FY): 2008 – 2009
• Project Status: Completed (Fiscal Year 2009)
• Budget Amount: ¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000); Fiscal Year 2009: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000); Fiscal Year 2008: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
• Keywords: 多指ロボットハンド / 柔軟指 / 物体操作

Research Abstract

This research proposed a dynamics of deformation of soft fingertips with inertia force, and proposed two control methods for object manipulation by multi-fingered hand. The asymptotic convergence of object position, object orientation and contact force is proven by the Lyapunov-like Lemma. The simulation results and experiment results shows the effectiveness of proposed controllers.

Research Products

• [Presentation] 半球型柔軟指先を有する多指ハンドの適応制御 (2009)
  • Author(s): 上木諭
  • Organizer: 第10回計測自動制御学会SI部門講演会
  • Place of Presentation: 芝浦工業大学豊洲キャンパス
  • Year and Date: 2009-12-25
• [Presentation] An Object Manipulation by Multi-fingered Robot Hand with Hemispherical Soft Fingertips (2009)
  • Author(s): 上木諭
  • Organizer: 9th IFAC Symposium on Robot Control
  • Place of Presentation: Gifu Nagaragawa Convention Center
  • Year and Date: 2009-09-11
• [Presentation] 半球型柔軟指先を有する多指ハンドによる把持物体操りの実験 (2009)
  • Author(s): 上木諭
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2009
  • Place of Presentation: 福岡国際会議場
  • Year and Date: 2009-05-26
• [Presentation] 半球型柔軟指先を有する多指ハンドによる把持物体操りの実験 (2009)
  • Author(s): 上木諭, 川崎晴久, 毛利哲也
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2009
• [Presentation] An Object Manipulation by Multi-fingered Robot Hand with Hemispherical Soft Fingertips (2009)
  • Author(s): Satoshi Ueki, Haruhisa Kawasaki, Tetsuya Mouri
  • Organizer: 9th IFAC Symposium on Robot Control
• [Presentation] 半球型柔軟指先を有する多指ハンドの適応制御 (2009)
  • Author(s): 上木諭, 川崎晴久, 毛利哲也
  • Organizer: 第10回計測自動制御学会SI部門講演会
• [Presentation] 多指ハンドによる物体操作のための半球型柔軟指の動的モデル (2008)
  • Author(s): 上木諭
  • Organizer: 第9回計測自動制御学会SI部門講演会
  • Place of Presentation: 岐阜長良川国際会議場
  • Year and Date: 2008-12-05
• [Presentation] 多指ハンドによる物体操作のための半球型柔軟指の動的モデル (2008)
  • Author(s): 上木諭, 川崎晴久, 毛利哲也
  • Organizer: 第9回計測自動制御学会SI部門講演会