Study and Development of the Enfolding Robotic Gripper to Realize Hyper Flexible Fitting by using the Liquid-Solid State Changing

• Project/Area Number: 21860034
• Research Category: Grant-in-Aid for Research Activity Start-up
• Allocation Type: Single-year Grants
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Osaka University
• Principal Investigator: TADAKUMA Kenjiro Osaka University, 工学研究科, 助教 (30508833)
• Project Period (FY): 2009 – 2010
• Project Status: Completed (Fiscal Year 2010)
• Budget Amount: ¥2,587,000 (Direct Cost: ¥1,990,000、Indirect Cost: ¥597,000); Fiscal Year 2010: ¥1,183,000 (Direct Cost: ¥910,000、Indirect Cost: ¥273,000); Fiscal Year 2009: ¥1,404,000 (Direct Cost: ¥1,080,000、Indirect Cost: ¥324,000)
• Keywords: 機構 / グリッパ / 設計 / 相変化 / なじみ性 / 包み込み / ロボットグリッパ / 液・固 / 超なじみ性 / 包み込み式

Research Abstract

This study is especially focused on the development of the morphing omnidirectional gripper which is able to grasp various objects with low melting point alloy, functional fluid, dilatancy fluid, and so on. The deformable part of the gripper changes its shape by covering all direction of objects and makes the contacting area higher. This time, we especially focus on the "Hot-Ice" phenomena to realize higher grasping motion. The basic performance of fluid of CH3COONa has been observed.

Research Products

• [Journal Article] Omnidirectional State-Changing Gripper Mechanism for Various Objects (2011)
  • Author(s): Kenjiro Tadakuma, Riichiro Tadakuma, Hiroki Tanaka, Takuto Fukuda, Mitsuru Higashimori, Makoto Kaneko
  • Journal Title: The Proceeding of the International Symposium on Artificial Life and Robotics ISBN978-4-9902880-5-1 Pages: 995-998
  • Peer Reviewed
• [Journal Article] Omnidirectional State-Changing Gripper Mechanism for Various Objects (2011)
  • Author(s): Kenjiro Tadakuma, Riichiro Tadakuma, Hiroki Tanaka, Takuto Fukuda, Mitsuru Higashimori, Makoto Kaneko
  • Journal Title: The Proceeding of the International Symposium on Artificial Life and Robotics Volume: ISBN978-4-9902880-5-1 Pages: 995-998
  • Peer Reviewed
• [Journal Article] Connected tracked robot with offset joint mechanism for multiple configurations (2010)
  • Author(s): Tadakuma, K., Ohishi, C., Maruyama, A., Tadakuma, R., Nagatani, K., Yoshida, K., Aiguo Ming, Shimojo
  • Journal Title: The Proceeding of the IEEE/RSJ International Conference on Intelligent Robots and Systems ISBN:978-1-4244-6676 Pages: 3366-3371
  • Peer Reviewed
• [Journal Article] Mechanical design of the Wheel-Leg hybrid mobile robot to realize a large wheel diameter (2010)
  • Author(s): Tadakuma, K., Tadakuma, R., Maruyama, A., Rohmer, E., Nagatani, K., Yoshida, K., Aigo Ming, Shimojo, M., Higashimori, M., Kaneko, M.
  • Journal Title: The Proceeding of the IEEE/RSJ International Conference on Intelligent Robots and Systems ISBN:978-1-4244-6676 Pages: 3358-3365
  • Peer Reviewed
• [Journal Article] Empirical based optimal design of Active Strobe Imager (2010)
  • Author(s): Funai, K., Mizoue, K., Higashimori, M., Tadakuma, K., Kaneko, M.
  • Journal Title: The Proceeding of the IEEE/RSJ International Conference on Intelligent Robots and Systems ISBN:978-1-4244-6676 Pages: 1896-1901
  • Peer Reviewed
• [Journal Article] High sensitivity initial slip sensor for dexterous grasp (2010)
  • Author(s): Teshigawara, S., Tadakuma, K., Aiguo Ming, Ishikawa, M., Shimojo, M.
  • Journal Title: The Proceeding of the IEEE International Conference on Robotics and Automation IBSN:978-1-4244-5040-4 Pages: 4867-4872
  • Peer Reviewed
• [Journal Article] A new stiffness evaluation toward high speed cell sorter (2010)
  • Author(s): Hirose, Y., Tadakuma, K., Higashimori, M., Arai, T., Kaneko, M., Iitsuka, R., Yamanishi, Y., Arai, F
  • Journal Title: The Proceeding of the IEEE International Conference on Robotics and Automation IBSN:978-1-4244-5040-4 Pages: 4113-4118
  • Peer Reviewed
• [Journal Article] Development of intelligent robot hand using proximity, contact and slip sensing (2010)
  • Author(s): Hasegawa, H., Mizoguchi, Y., Tadakuma, K., Aiguo Ming, Ishikawa, M., Shimojo, M.
  • Journal Title: The Proceeding of the IEEE International Conference on Robotics and Automation IBSN:978-1-4244-5040-4 Pages: 777-784
  • NAID: 10027445620
  • Peer Reviewed
• [Journal Article] Connected tracked robot with offset joint mechanism for multiple configurations (2010)
  • Author(s): Tadakuma, K., Ohishi, C., Maruyama, A., Tadakuma, R., Nagatani, K., Yoshida, K., Aiguo Ming, Shimojo, M.
  • Journal Title: The Proceeding of the IEEE/RSJ International Conference on Intelligent Robots and Systems Volume: ISBN:978-1-4244-6676 Pages: 3366-3371
  • Peer Reviewed
• [Journal Article] Mechanical design of the Wheel-Leg hybrid mobile robot to realize a large wheel diameter (2010)
  • Author(s): Tadakuma, K., Tadakuma, R., Maruyama, A., Rohmer, E., Nagatani, K., Yoshida, K., Aigo Ming, Shimojo, M., Higashimori, M., Kaneko, M.
  • Journal Title: The Proceeding of the IEEE/RSJ International Conference on Intelligent Robots and Systems Volume: ISBN:978-1-4244-6676 Pages: 3358-3365
  • Peer Reviewed
• [Journal Article] Empirical based optimal design of Active Strobe Imager (2010)
  • Author(s): Funai, K., Mizoue, K., Higashimori, M., Tadakuma, K., Kaneko, M.
  • Journal Title: The Proceeding of the IEEE/RSJ International Conference on Intelligent Robots and Systems Volume: ISBN:978-1-4244-6676 Pages: 1896-1901
  • Peer Reviewed
• [Journal Article] High sensitivity initial slip sensor for dexterous grasp (2010)
  • Author(s): Teshigawara, S., Tadakuma, K., Aiguo Ming, Ishikawa, M., Shimojo, M.
  • Journal Title: The Proceeding of the IEEE International Conference on Robotics and Automation Volume: IBSN:978-1-4244-5040-4 Pages: 4867-4872
  • Peer Reviewed
• [Journal Article] A new stiffness evaluation toward high speed cell sorter (2010)
  • Author(s): Hirose, Y., Tadakuma, K., Higashimori, M., Arai, T., Kaneko, M., Iitsuka, R., Yamanishi, Y., Arai, F
  • Journal Title: The Proceeding of the IEEE International Conference on Robotics and Automation Volume: IBSN:978-1-4244-5040-4 Pages: 4113-4118
  • Peer Reviewed
• [Journal Article] Development of intelligent robot hand using proximity, contact and slip sensing (2010)
  • Author(s): Hasegawa, H., Mizoguchi, Y., Tadakuma, K., Aiguo Ming, Ishikawa, M., Shimojo, M.
  • Journal Title: The Proceeding of the IEEE International Conference on Robotics and Automation Volume: IBSN:978-1-4244-5040-4 Pages: 777-784
  • NAID: 10027445620
  • Peer Reviewed
• [Presentation] 全方向駆動機構の研究開発 (2011)
  • Author(s): 多田隈建二郎
  • Organizer: 2011年Brain-ISワークショップ
  • Place of Presentation: 福岡県北九州市(招待講演)
  • Year and Date: 2011-02-09
• [Presentation] 全方向包み込み式なじみグリッパ機構"Omni-Gripper"の研究-Hot-Ice現象を活用した液・固相変化式把持メカニズム- (2011)
  • Author(s): 多田隈建二郎, 田中大貴, 寺田一貴, 大石千種, 長谷川浩章, 勅使河原誠一, 明愛国, 下条誠, 高山俊男, 小俣透, 東森充, 金子真
  • Organizer: 第16回ロボティクスシンポジア
  • Place of Presentation: 鹿児島指宿市
• [Presentation] 全方向駆動歯車機構"Omni-Gear"の研究 各曲率の駆動ユニット構造と基本動作特性について (2011)
  • Author(s): 多田隈理一郎, 多田隈建二郎,井岡恭平, 妻木勇一
  • Organizer: 3B5,第16回ロボティクスシンポジア
  • Place of Presentation: 鹿児島指宿市
• [Presentation] 円形断面クローラ機構に基づく面状2軸直交駆動力発生機構 (2011)
  • Author(s): 多田隈建二郎, 福田拓人, 東森充, 金子真
  • Organizer: システムインテグレーション部門講演会SI2010
  • Place of Presentation: 宮城県仙台市
• [Presentation] 単純脚・クローラハイブリット型移動ロボットTrackWalkerによる浅間山での不整地走行実験 (2011)
  • Author(s): 木下宏晃, 多田隈建二郎, 永谷圭司, 吉田和哉
  • Organizer: システムインテグレーション部門講演会SI2010
  • Place of Presentation: 宮城県仙台市
• [Presentation] 超柔軟形状・剛性可変移動体"MR Hot-Ice" (2011)
  • Author(s): 多田隈建二郎, 田中大貴, 福田拓人, 東森充, 金子真
  • Organizer: システムインテグレーション部門講演会SI2010
  • Place of Presentation: 宮城県仙台市
• [Presentation] 全方向包み込み式なじみグリッパ機構"Omni-Gripper"の研究-Hot-Ice現象を活用した液・固相変化式把持メカニズム- (2011)
  • Author(s): 多田隈建二郎, 田中大貴, 寺田一貴, 大石千種, 長谷川浩章, 勅使河原誠一, 明愛国, 下条誠, 高山俊男, 小俣透, 東森充, 金子真
  • Organizer: 第16回 ロボティクスシンポジア(査読有り)
  • Place of Presentation: 鹿児島指宿市
• [Presentation] 全方向駆動歯車機構""Omni-Gear""の研究各曲率の駆動ユニット構造と基本動作特性について (2011)
  • Author(s): 多田隈理一郎, 多田隈建二郎, 井岡恭平, 妻木勇一
  • Organizer: 第16回 ロボティクスシンポジア(査読有り)
  • Place of Presentation: 鹿児島県指宿市
• [Presentation] 単純脚・クローラハイブリット型移動ロボットTrack Walkerによる浅間山での不整地走行実験 (2011)
  • Author(s): 木下宏晃, 多田隈建二郎, 永谷圭司, 吉田和哉
  • Organizer: システムインテグレーション部門講演会SI2010
  • Place of Presentation: 宮城県仙台市
• [Presentation] Point-type non-contact stiffness sensing of soft tissue with coupling effect (2010)
  • Author(s): Tanaka N., Uchida, R., Higashimori M., Tadakuma K., Kaneko M.
  • Organizer: 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
  • Place of Presentation: Buenos Aires, Argentina
• [Presentation] Cell Sheet Stiffness Sensing without taking out from culture liquid (2010)
  • Author(s): Uchida, R., Tanaka N., Higashimori M., Tadakuma K., Kaneko M., Kondo, M., Yamato, M.
  • Organizer: 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
  • Place of Presentation: Buenos Aires, Argentina
• [Presentation] Multi-Leg System for Aerial Vehicles (2010)
  • Author(s): 土居隆宏, 宮田和典, 笹川敬正, 多田隈建二郎
  • Organizer: International Conference on Advanced Mechatronics 2010, ICAM2010
  • Place of Presentation: Osaka, Japan
• [Presentation] Development of leg-track hybrid locomotion to traverse loose slopes and irregular terrain (2010)
  • Author(s): K.Nagatani, H.Kinoshita, K.Yoshida, K.Tadakuma, E.Koyanagi
  • Organizer: 2010 IEEE International Workshop on Safety Security and Rescue Robotics
  • Place of Presentation: Bremen, Germany
• [Presentation] 全方向駆動歯車機構"Omni-Gear" (2010)
  • Author(s): 多田隈理一郎, 多田隈建二郎, 井岡恭平, 妻木勇一
  • Organizer: 第28回日本ロボット学会学術講演会
  • Place of Presentation: 愛知県名古屋市
• [Presentation] チャンネル間の位相特性に着目した新しい事象関連電位抽出法 (2010)
  • Author(s): 則定孝彰, 伸澤佑一, 長瀬功児, 溝上浩司, 多田隈建二郎, 東森充, 金子真
  • Organizer: 第28回日本ロボット学会学術講演会
  • Place of Presentation: 愛知県名古屋市
• [Presentation] Hot-Ice現象を活用した全方向包み込み式なじみグリッパ機構 (2010)
  • Author(s): 多田隈建二郎, 田中大貴, 寺田一貴, 大石千種, 長谷川浩章, 勅使河原誠一, 明愛国, 下条誠, 高山俊男, 小俣透, 東森充, 金子真
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2010
  • Place of Presentation: 北海道旭川市
• [Presentation] 輪切りモデルを用いたマウス左心室の弾性センシング (2010)
  • Author(s): 柴田曉秀, マイケルティオンホーヒー, 多田隈建二郎, 東森充, 金子真, 上村大輔, 坂田泰史, 山本一博
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2010
  • Place of Presentation: 北海道旭川市
• [Presentation] マイクロ流路通過時間に着目した高速細胞硬さ評価 (2010)
  • Author(s): 廣瀬優紀, 飯塚龍, 山西陽子, 丸山央峰, 新井史人, 新井健生, 多田隈建二郎, 東森充, 金子真
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2010
  • Place of Presentation: 北海道旭川市
• [Presentation] 2軸直交駆動力を生成する全方向駆動ローラ付指機構 (2010)
  • Author(s): 多田隈建二郎, 東森充, 金子真
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2010
  • Place of Presentation: 北海道旭川市
• [Presentation] 2軸球体駆動車輪における摩擦ロス低減機構 (2010)
  • Author(s): 多田隈建二郎, 東森充, 金子真
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2010
  • Place of Presentation: 北海道旭川市
• [Presentation] 飛行ビークルのための多脚型対地適応システムの研究-一脚モデルの動作試験- (2010)
  • Author(s): 宮田和典, 笹川敬正, 土居隆宏, 多田隈建二郎
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2010
  • Place of Presentation: 北海道旭川市
• [Presentation] 2車体連結クローラの形態可変機能のための2重関節機構構成の実験的検討 (2010)
  • Author(s): 大石千種, 多田隈建二郎, 丸山央, 明愛国, 下条誠, 永谷圭司, 吉田和哉, 東森充, 金子真
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2010
  • Place of Presentation: 北海道旭川市
• [Presentation] Point-type non-contact stiffness sensing of soft tissue with coupling effect (2010)
  • Author(s): Tanaka, N., Uchida, R., Higashimori, M., Tadakuma, K., Kaneko, M.
  • Organizer: 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)(査読有り)
  • Place of Presentation: Buenos Aires, Argentina
• [Presentation] Cell Sheet Stiffness Sensing without taking out from culture liquid (2010)
  • Author(s): Uchida, R., Tanaka, N., Higashimori, M., Tadakuma, K., Kaneko, M., Kondo, M., Yamato, M.
  • Organizer: 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)(査読有り)
  • Place of Presentation: Buenos Aires, Argentina
• [Presentation] Multi-Leg System for Aerial Vehicles (2010)
  • Author(s): Takahiro Doi, Kazunori Miyata, Takamasa Sasagawa, Kenjiro Tadakuma
  • Organizer: International Conference on Advanced Mechatronics 2010, ICAM2010(査読有り)
  • Place of Presentation: Osaka, Japan
• [Presentation] Development of leg-track hybrid locomotion to traverse loose slopes and irregular terrain (2010)
  • Author(s): K.Nagatani, H.Kinoshita, K.Yoshida, K.Tadakuma, E.Koyanagi
  • Organizer: 2010 IEEE International Workshop on Safety, Security and Rescue Robotics(査読有り)
  • Place of Presentation: Bremen, Germany
• [Remarks] ホームページ等
  • URL: http://www-hh.mech.eng.osaka-u.ac.jp/robotics/index.html
• [Remarks]
  • URL: http://www-hh.mech.eng.osaka-u.ac.jp/robotics/index.html