Emergence of Grasping based on tacit learning
| Project/Area Number |
21700337
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Bioinformatics/Life informatics
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| Research Institution | The Institute of Physical and Chemical Research |
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Principal Investigator |
SHIMODA Shingo 独立行政法人理化学研究所, 自律行動制御連携ユニット, 連携ユニットリーダー (20415186)
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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 |
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2011: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2010: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2009: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
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| Keywords | 生物制御 / Tacit learning / 行動創発 / Grasping / 義手 / 電動義手 / 複合制御 / 生物模倣 |
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| Research Abstract |
Grasping by human beings is one of the most environment-sensitive behavior. We can crate appropriate grasping posture depending on the grasping object and the environmental situations. To apply this ability to the artificial arm control, we used tacit learning that is developed based on the principle of biological controls. We showed in the simulation study that the proposed controller can learn the appropriate grasping posture depending on the grasping force. We applied our controller to control the 3DOF artificial arm to adapt the motion of the remaining joints and experimentally showed that the appropriate behaviors emerged through the body/environment interactions.
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Report
(4 results)
Research Products
(10 results)
