| Project/Area Number |
22240012
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| Research Category |
Grant-in-Aid for Scientific Research (A)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | The University of Electro-Communications |
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Principal Investigator |
SHIMOJO makoto 電気通信大学, 情報理工学(系)研究科, 教授 (90292474)
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| Co-Investigator(Kenkyū-buntansha) |
ISHIKAWA Masatoshi 東京大学, 大学院・情報理工学系研究科, 教授 (40212857)
YOKOI Hiroshi 電気通信大学, 大学院・情報理工学研究科, 教授 (90271634)
MING Aiguo 電気通信大学, 大学院・情報理工学研究科, 准教授 (50239456)
SUZUKI Yousuke 電気通信大学, 大学院・情報理工学研究科, 助教 (20582331)
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| Project Period (FY) |
2010-04-01 – 2014-03-31
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| Project Status |
Completed (Fiscal Year 2013)
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| Budget Amount *help |
¥44,070,000 (Direct Cost: ¥33,900,000、Indirect Cost: ¥10,170,000)
Fiscal Year 2013: ¥7,410,000 (Direct Cost: ¥5,700,000、Indirect Cost: ¥1,710,000)
Fiscal Year 2012: ¥10,010,000 (Direct Cost: ¥7,700,000、Indirect Cost: ¥2,310,000)
Fiscal Year 2011: ¥12,740,000 (Direct Cost: ¥9,800,000、Indirect Cost: ¥2,940,000)
Fiscal Year 2010: ¥13,910,000 (Direct Cost: ¥10,700,000、Indirect Cost: ¥3,210,000)
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| Keywords | センサ融合・統合 / 触覚 / 近接覚 / すべり覚 / 触覚センサ / 近接覚センサ / センサ融合･統合 |
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| Research Abstract |
In this research, the tactile sensor architecture which measures contact, slip and proximity information by the same analog circuit was developed. Thus, advanced features of the tactile sensor system mounted on robots and various mechanical system can be achieved. By this method, the solution of the wiring problem which connects many detection elements was proposed. And also by using an analog circuitry network, solution to the problem of the response delay accompanying the increase in a detection element was attained. Moreover, the slip sensor which can detect the slip just before beginning to slip was developed. The sensor is a high-speed response with a simple structure and thin light weight. In this research, the these-developed sensor was mounted to the robot hand and the autonomous vehicle, the verification experiment was conducted, and the availability was clarified in the experiment.
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