| Project/Area Number |
22760191
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Okayama Prefectural University |
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Principal Investigator |
INOUE Takahiro 岡山県立大学, 情報工学部, 准教授 (60453205)
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| Project Period (FY) |
2010 – 2011
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| Project Status |
Completed (Fiscal Year 2011)
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| Budget Amount *help |
¥3,380,000 (Direct Cost: ¥2,600,000、Indirect Cost: ¥780,000)
Fiscal Year 2011: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2010: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
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| Keywords | リーチング運動 / 上肢 / ヤコビ行列 / 冗長関節 / 腱駆動 / 非線形ばね / 上肢ロボット / バックドライバビリティ / 拮抗筋 / 手先到達運動 / 柔軟指 / 2段階制御 / ロボットハンド / リアプノフ関数 / 巧みさ / 器用さ / 視覚 / 触覚 |
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| Research Abstract |
It is extremely different between the human motor control and conventional robot control systems. Especially, the large time delay due to the transmission of a nerve impulse influences the movements of the robot and the human. It is clearly indicated that the reaching movement of a redundant upper-limb robot in gravity converges successfully with resolving the singular configuration of the robot and the so-called ill-posed problem.
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