| Project/Area Number |
21K20391
|
|---|
| Research Category |
Grant-in-Aid for Research Activity Start-up
|
| Allocation Type | Multi-year Fund |
|---|
| Review Section |
0301:Mechanics of materials, production engineering, design engineering, fluid engineering, thermal engineering, mechanical dynamics, robotics, aerospace engineering, marine and maritime engineering, and related fields
|
|---|
| Research Institution | Tohoku University |
|---|
Principal Investigator |
|
|---|
| Project Period (FY) |
2021-08-30 – 2023-03-31
|
| Project Status |
Discontinued (Fiscal Year 2022)
|
| Budget Amount *help |
¥2,990,000 (Direct Cost: ¥2,300,000、Indirect Cost: ¥690,000)
Fiscal Year 2022: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2021: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
|
|---|
| Keywords | Geometric mechanics / Differential geometry / Motion planning / Control / Agile fingertip / Dexterous manipulation / Design / Robots / Robotics / Path planning / Agile fingertips |
|---|
| Outline of Research at the Start |
Humans use their fingers to manipulate grasped objects, namely food and clothes, by rotating the touched fingertips. This ability is very important in the stability of grasped objects. With inspiration from this property, we will develop new agile rolling fingertips that can be used in commercially available robotic hands. Also, this research will investigate the theoretical challenges in developing proper motion planning for these agile fingertips using differential geometry. The ultimate goal is to develop controllable and agile fingertips that can grasp and manipulate soft and hard objects.
|
| Outline of Annual Research Achievements |
The research aim was to study the spin-rolling contacts on different surfaces. We investigate the problem from a mechanism design and motion planning point of view. We were able to develop new Darboux-frame-based kinematics for easing the motion planning problem by transforming an underactuated rolling contact model to a fully-actuated one. Next, we developed a motion planning strategy using the iterative algorithm with geometric functions. Also, the spin-rolling fingertip that resembles the spin-rolling sphere on the generic surface is investigated. Finally, we developed a new driving mechanism for spin-rolling fingertips. We tested different actuation strategies to achieve an agile fingertip for the grasping mechanisms. With the extension of the study to assistive geometric controllers, we were able to publish our findings in different journals and conferences. We are planning to publish our new mechanism in international journals in the near future.
|
