| Project/Area Number |
20K14713
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| Research Category |
Grant-in-Aid for Early-Career Scientists
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| Allocation Type | Multi-year Fund |
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| Review Section |
Basic Section 21010:Power engineering-related
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| Research Institution | Nagaoka University of Technology |
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Principal Investigator |
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| Project Period (FY) |
2020-04-01 – 2023-03-31
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| Project Status |
Completed (Fiscal Year 2022)
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| Budget Amount *help |
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2022: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2021: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2020: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
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| Keywords | Motion control / Force control / Intelligent sensing / Deep learning / Robot / Intelligent control / intelligent robotics / motion control |
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| Outline of Research at the Start |
To establish the effective human-robot collaborations, the superior wideband force observer is developed to achieve the outstanding fine force perception. Moreover, the artificial intelligence based force controller is developed to provide the model-free-learning algorithm to realize the safe and reliable interaction for robot system.
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| Outline of Final Research Achievements |
The ascending need of human-robot collaboration has led to the extensive evolution of human-robot interaction applications. To enhance the performance and guarantee the safety of interaction, the development of these robots has been focusing on building sensory systems, especially the tactile sensation that allows robots to explore the real world and carry out work in a manner close to human ability. However, tactile sensation encounters challenges of noise, friction, undesired periodicities, and bandwidth limitation. These problems can endanger the executions of robots and expose human lives to hazardous circumstances. This study aims at solving these problems by realizing the breakthrough super-wideband and intelligent force perception for safe interaction force control.
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| Academic Significance and Societal Importance of the Research Achievements |
本研究は、人間の触覚(400Hz)よりもはるかに広い1kHzの超広帯域力覚を実現し、ロボットの力制御分野における記録となる。超広帯域・インテリジェントな力覚は、力制御性能を向上させるとともに、安全な相互作用を保証することができる。本研究で開発された技術は、人間とロボットの安全な相互作用の応用、スマート力覚、スマート力制御システムに有用であり、少子高齢化が進む日本の日常生活や産業において、人間と協働するロボットの発展に貢献する。
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