Developmental System Based on the Attention Control of Humanoid Robot with Sensor Flesh Embedded with Multi-axes Tactile Sensors
Project/Area Number |
21680020
|
Research Category |
Grant-in-Aid for Young Scientists (A)
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Allocation Type | Single-year Grants |
Research Field |
Perception information processing/Intelligent robotics
|
Research Institution | The University of Tokyo |
Principal Investigator |
YOSHIKAI Tomoaki 東京大学, 大学院・情報理工学系研究科, 特任講師 (60436558)
|
Project Period (FY) |
2009 – 2011
|
Project Status |
Completed (Fiscal Year 2011)
|
Budget Amount *help |
¥27,430,000 (Direct Cost: ¥21,100,000、Indirect Cost: ¥6,330,000)
Fiscal Year 2011: ¥6,890,000 (Direct Cost: ¥5,300,000、Indirect Cost: ¥1,590,000)
Fiscal Year 2010: ¥7,150,000 (Direct Cost: ¥5,500,000、Indirect Cost: ¥1,650,000)
Fiscal Year 2009: ¥13,390,000 (Direct Cost: ¥10,300,000、Indirect Cost: ¥3,090,000)
|
Keywords | 柔軟肉質センサ外装 / ヒューマノイドロボット / 身体負荷監視評価構造 / 柔軟密着行動 / 柔軟肉質外装 / 多軸センサ肉質外装 / 注意制御 / 多軸触覚センサ / 柔軟外装 / ロボット触覚 / 肉質外装ヒューマノイド |
Research Abstract |
The aim of this research is to clarify the method to construct both hardware and software for humanoid robots with multi-axes soft tactile sensors. As results of this research, soft sensor exteriors embedded with multi-axes soft tactile sensors for both small and adult-size humanoid robots are developed. Also, method to make structured data for the enormous amount of distributed tactile sensors is developed for them. Furthermore, reinforcement learning system which adjusts a function of adaptation during close interaction behavior between the robot and an object is developed.
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Report
(4 results)
Research Products
(15 results)