System description and control for seamless manipulation
| Project/Area Number |
22560222
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Dynamics/Control
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| Research Institution | Wakayama University |
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Principal Investigator |
NAGASE Kenji 和歌山大学, システム工学部, 准教授 (70303667)
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| Project Period (FY) |
2010 – 2012
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| Project Status |
Completed (Fiscal Year 2012)
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| Budget Amount *help |
¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2012: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2011: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2010: ¥3,510,000 (Direct Cost: ¥2,700,000、Indirect Cost: ¥810,000)
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| Keywords | 多指ハンドロボット / 把握・操りの制御 / シームレスマニピュレーション / 把握多面体 / ハンド・アームロボット / 把握・繰りの制御 |
|---|
| Research Abstract |
In this study, we considered a new feedback control design methodology or multi-fingered robot hands applicable to tasks with multiple contact situations, such as catching/releasing task preceding to or followed by grasping/manipulation. To realize smooth transition of the contact situations, we were especially concerned with selection of the system variables to describe the system dynamics continuously over the multiple contact situations. As one of the possible choices, we selected the relative motion of the grasp polyhedrons, and proposed a control design method based on this system expression.
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Report
(4 results)
Research Products
(26 results)
