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Rheology Robotics Based on Deformation Control with High Backdrivability

Research Project

Project/Area Number 20H02110
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Review Section Basic Section 20020:Robotics and intelligent system-related
Research InstitutionHokkaido University (2022)
Hiroshima University (2020-2021)

Principal Investigator

Senoo Taku  北海道大学, 情報科学研究院, 准教授 (10512113)

Project Period (FY) 2020-04-01 – 2023-03-31
Project Status Completed (Fiscal Year 2022)
Budget Amount *help
¥17,680,000 (Direct Cost: ¥13,600,000、Indirect Cost: ¥4,080,000)
Fiscal Year 2022: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2021: ¥6,760,000 (Direct Cost: ¥5,200,000、Indirect Cost: ¥1,560,000)
Fiscal Year 2020: ¥6,760,000 (Direct Cost: ¥5,200,000、Indirect Cost: ¥1,560,000)
Keywords知能ロボティクス / 機械力学 / 感覚行動システム / 力制御 / ロボットマニピュレーション
Outline of Research at the Start

本研究は,ロボットハンドの柔軟性を機構的・制御的に実現することで,対象との接触応答をリアルタイムに調整可能なフィジカルインタラクションの実現を目的とする.ハードウェアとして低摩擦アクチュエータを開発してロボットハンドへ実装することで,バックドライバビリティの高い接触動作を実現する.同時に,変形モデルベースの力制御手法を開発することで,衝撃吸収や跳ね返り抑制が可能な柔軟特性を実現する.これらの技術を統合することで,柔らかい動きだけでなく強固な把持や精密な位置決めなどの広帯域をカバーする柔軟性調整力を実証し,新たなロボットアプリケーションの開拓を目指したレオロジーロボティクスを確立する.

Outline of Final Research Achievements

By mechanically and controllably realizing the flexibility of the robot hand, we have realized a physical interaction system that enables real-time adjustment of the contact response with the object. As hardware, we developed a robot gripper with high backdrivability using a low-friction actuator consisting of a non-contact transmission mechanism with magnet gears. As a control law, a deformation model-based force control law reproduced the position and posture changes of the robot caused by the interaction, and realized various flexible characteristics based on plastic motion that can absorb shocks and suppress bounces. By integrating these techniques, we realized a manipulation system that can grasp an object with low impact and without bouncing while moving at high speed, demonstrating both flexibility and high speed.

Academic Significance and Societal Importance of the Research Achievements

インタラクションによって生じるロボットの運動を“変形”という概念で再定義し,ロボット制御手法を体系化する点が学術的な意義である.柔軟性を実現するシステム設計のアプローチとして,ソフトロボティクスのような弾性材料を組み込む手法とは異なり,関節やリンクを剛体メカニズムで構成しながら物理的摩擦を極限まで低減することで,高バックドライバビリティと制御性の両立を達成する点が独創的である.制御/ハードウェアの両面からロボットインタラクションに関する理論的・技術的基盤を刷新し,積極的に非停止状態を利用しながら衝撃緩和により高速マニピュレーションを実現可能にした点は社会的意義がある.

Report

(4 results)
  • 2022 Annual Research Report   Final Research Report ( PDF )
  • 2021 Annual Research Report
  • 2020 Annual Research Report
  • Research Products

    (26 results)

All 2023 2022 2021 2020 Other

All Journal Article (4 results) (of which Peer Reviewed: 3 results,  Open Access: 4 results) Presentation (20 results) (of which Int'l Joint Research: 10 results,  Invited: 3 results) Remarks (2 results)

  • [Journal Article] Tracking of Overlapped Vehicles with Spatio-Temporal Shared Filter for High-Speed Stereo Vision2022

    • Author(s)
      Taku Senoo, Atsushi Konno, Yunzhuo Wang, Masahiro Hirano, Norimasa Kishi, Masatoshi Ishikawa
    • Journal Title

      Journal of Robotics and Mechatronics

      Volume: 34 Issue: 5 Pages: 1033-1042

    • DOI

      10.20965/jrm.2022.p1033

    • ISSN
      0915-3942, 1883-8049
    • Year and Date
      2022-10-20
    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] High-speed Tracking for Overlapped Vehicles Using Template Matching Based on the Contour Information2022

    • Author(s)
      川原大宙, 妹尾拓, 石井抱, 平野正浩, 岸則政, 石川正俊
    • Journal Title

      Transactions of the Society of Instrument and Control Engineers

      Volume: 58 Issue: 1 Pages: 21-30

    • DOI

      10.9746/sicetr.58.21

    • NAID

      130008143513

    • ISSN
      0453-4654, 1883-8189
    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Human Robot Hand Interaction with Plastic Deformation Control2020

    • Author(s)
      Kenichi Murakami, Koki Ishimoto, Taku Senoo and Masatoshi Ishikawa
    • Journal Title

      Robotics

      Volume: 9 Issue: 3 Pages: 1-15

    • DOI

      10.3390/robotics9030073

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Baseball Robotic System2020

    • Author(s)
      妹尾拓
    • Journal Title

      Journal of the Robotics Society of Japan

      Volume: 38 Issue: 4 Pages: 313-317

    • DOI

      10.7210/jrsj.38.313

    • NAID

      130007845602

    • ISSN
      0289-1824, 1884-7145
    • Related Report
      2020 Annual Research Report
    • Open Access
  • [Presentation] 高速応答可能な野球ロボットシステム2023

    • Author(s)
      妹尾拓
    • Organizer
      2023年電子情報通信学会総合大会
    • Related Report
      2022 Annual Research Report
    • Invited
  • [Presentation] Grasping complex shapes with the integration of high-speed vision and machine learning in a dynamic situation2023

    • Author(s)
      Hiromichi Kawahara, Taku Senoo, Idaku Ishii
    • Organizer
      IEEE International Conference On Mechatronics 2023
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Automotive Tracking with High-speed Stereo Vision Based on a Spatiotemporal Shared Filter2022

    • Author(s)
      Taku Senoo, Atsushi Konno, Yunzhuo Wang, Masahiro Hirano, Norimasa Kishi, and Masatoshi Ishikawa
    • Organizer
      26th International Conference on System Theory, Control and Computing
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 高周波点滅パターン抽出に基づく矢印信号機認識2022

    • Author(s)
      妹尾拓, 川原大宙, 石井抱, 籔内健人, 平野正浩, 岸則政, 石川正俊
    • Organizer
      第23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
    • Related Report
      2022 Annual Research Report
  • [Presentation] 赤紫蘇農場におけるYOLOv7を用いた雑草識別2022

    • Author(s)
      竹内聖登, 小水内俊介, 妹尾拓, 近野敦
    • Organizer
      第23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
    • Related Report
      2022 Annual Research Report
  • [Presentation] 高速ロボットハンドによる振り上げ動作を用いたインハンドマニピュレーション2022

    • Author(s)
      大坪隼人, 妹尾拓, 石井抱
    • Organizer
      第40回日本ロボット学会学術講演会
    • Related Report
      2022 Annual Research Report
  • [Presentation] ロボットハンドによる摩擦差を利用した用紙分離2022

    • Author(s)
      山名悠希, 妹尾拓, 石井抱
    • Organizer
      第40回日本ロボット学会学術講演会
    • Related Report
      2022 Annual Research Report
  • [Presentation] High-speed tracking for overlapped vehicles using instance segmentation and contour deformation2022

    • Author(s)
      Hiromichi Kawahara, Taku Senoo, Idaku Ishii, Masahiro Hirano, Norimasa Kishi and Masatoshi Ishikawa
    • Organizer
      2022 IEEE/SICE International Symposium on System Integration
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Baseball Robots Based on Sensory-Motor Integration2021

    • Author(s)
      Taku Senoo and Idaku Ishii
    • Organizer
      2021 International Conference on Control, Automation and Systems
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] Dynamic Robot Manipulation using High-speed Cognitive Behavior System2021

    • Author(s)
      Taku Senoo
    • Organizer
      Robotics and Computer Science World Forum 2021
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] 高速回転機構に基づく分身ロボットの提案と二次元シミュレーション評価2021

    • Author(s)
      池ヶ谷健太, 妹尾拓, 石井抱
    • Organizer
      第39回日本ロボット学会学術講演会
    • Related Report
      2021 Annual Research Report
  • [Presentation] ロボットハンドを使用した加振によるねじ緩み判別2021

    • Author(s)
      立石侑也, 島崎航平, 妹尾拓, 石井抱
    • Organizer
      第39回日本ロボット学会学術講演会
    • Related Report
      2021 Annual Research Report
  • [Presentation] 高速ロボットハンドを用いた動的環境における複雑形状物体把持2021

    • Author(s)
      川原大宙, 妹尾拓, 石井抱
    • Organizer
      日本機械学会 2021年度年次大会
    • Related Report
      2021 Annual Research Report
  • [Presentation] High-speed Hitting Grasping with Magripper, a Highly Backdrivable Gripper Using Magnetic Gear and Plastic Deformation Control2020

    • Author(s)
      Satoshi Tanaka, Keisuke Koyama, Taku Senoo, Makoto Shimojo, and Masatoshi Ishikawa
    • Organizer
      IEEE/RSJ Int. Conf. on Intelligent Robots and Systems
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Dynamic In-Hand Regrasping Using a High-Speed Robot Hand and a High-Speed Vision2020

    • Author(s)
      Ryosuke Higo, Taku Senoo, and Masatoshi Ishikawa
    • Organizer
      1st Virtual IFAC World Congress
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Bolt Loosening Detection Using Multi-purpose Robot Hand2020

    • Author(s)
      Fumiya Shimada, Taku Senoo, Kenichi Murakami, and Masatoshi Ishikawa
    • Organizer
      2020 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Robot Hand Interaction Using Plastic Deformation Control with Inner Position Loop2020

    • Author(s)
      Kenichi Murakami, Koki Ishimoto, Taku Senoo, and Masatoshi Ishikawa
    • Organizer
      2020 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Adaptive Visual Shock Absorber with Visual-based Maxwell Model Using Magnetic Gear2020

    • Author(s)
      Satoshi Tanaka, Keisuke Koyama, Taku Senoo, and Masatoshi Ishikawa
    • Organizer
      2020 IEEE Int. Conf. on Robotics and Automation
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 6軸力センサを搭載したロボットハンドを用いた加振によるボトル内の液体判別2020

    • Author(s)
      島田史也, 村上健一, 妹尾拓, 石川正俊
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2020
    • Related Report
      2020 Annual Research Report
  • [Presentation] 弾塑性変形制御を用いたヒューマンロボットインタラクション2020

    • Author(s)
      漆原昂, 村上健一, 妹尾拓, 石川正俊
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2020
    • Related Report
      2020 Annual Research Report
  • [Remarks] 研究室ホームページ

    • URL

      https://scc.ist.hokudai.ac.jp/~senoo/index-j.html

    • Related Report
      2022 Annual Research Report
  • [Remarks] 研究室ホームページ

    • URL

      https://www.robotics.hiroshima-u.ac.jp/members-jp/taku-senoo/

    • Related Report
      2021 Annual Research Report 2020 Annual Research Report

URL: 

Published: 2020-04-28   Modified: 2024-01-30  

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