| Project/Area Number |
22700200
|
|---|
| Research Category |
Grant-in-Aid for Young Scientists (B)
|
| Allocation Type | Single-year Grants |
|---|
| Research Field |
Perception information processing/Intelligent robotics
|
|---|
| Research Institution | Yokohama National University |
|---|
Principal Investigator |
MAEDA Yusuke 横浜国立大学, 工学研究院, 准教授 (50313036)
|
|---|
| Project Period (FY) |
2010 – 2011
|
| Project Status |
Completed (Fiscal Year 2011)
|
| Budget Amount *help |
¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
Fiscal Year 2011: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2010: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
|
|---|
| Keywords | 知能ロボティックス / ケージング / マニピュレーション / 把持 / ロボット / 多指ハンド |
|---|
| Research Abstract |
In this project, we studied geometry-based robotic manipulation, in which robots constrain objects and manipulate them based on not mechanics, but geometry. In order to establish a fundamental theory of geometry-based robotic manipulation, we investigated 3D multifingered caging, caging-based grasping and caging manipulation with the environment ; these are manipulation methodologies that do not require force control or force sensing.
|
