| Project/Area Number |
21360122
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | National Institute of Advanced Industrial Science and Technology |
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Principal Investigator |
ARISUMI Hitoshi 独立行政法人産業技術総合研究所, 知能システム研究部門, 主任研究員 (00356388)
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| Co-Investigator(Kenkyū-buntansha) |
TAKEDA Yukio 東京工業大学, 理工学研究科, 准教授 (20216914)
NAKABO Yoshihiro 独立行政法人産業技術総合研究所, 知能システム研究部門, 主任研究員 (70360609)
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| Co-Investigator(Renkei-kenkyūsha) |
YOKOI Kazuhito 独立行政法人産業技術総合研究所, 知能システム研究部門, 副研究部門長 (40358304)
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| Research Collaborator |
HIGUCHI Masaru 東京工業大学, 理工学研究科, 助教 (40293039)
MATSUURA Daisuke 東京工業大学, 理工学研究科, 助教 (40618740)
SHIOMI Asuka 東京工業大学, 理工学研究科, 修士学生
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| Project Period (FY) |
2009 – 2011
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| Project Status |
Completed (Fiscal Year 2011)
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| Budget Amount *help |
¥16,120,000 (Direct Cost: ¥12,400,000、Indirect Cost: ¥3,720,000)
Fiscal Year 2011: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
Fiscal Year 2010: ¥7,020,000 (Direct Cost: ¥5,400,000、Indirect Cost: ¥1,620,000)
Fiscal Year 2009: ¥6,370,000 (Direct Cost: ¥4,900,000、Indirect Cost: ¥1,470,000)
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| Keywords | ロボット / マニピュレーション / 投擲 / ワイヤ駆動 / 姿勢制御 / リリース機構 / 動力学 / 視覚フィードバック |
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| Research Abstract |
We developed the casting manipulator system which consists of a rigid arm, a flexible wire with variable length, and a gripper. In this manipulation, the gripper is launched to the target with changing the length of the wire by rotating the arm. Then the gripper's trajectory is controlled by the tension of the wire, and it catches the target object. Finally, the target is retrieved by reeling up the wire with swinging the arm. We proposed the control methods for each motion phase and their effectiveness is verified through experiments.
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