| Project/Area Number |
23360107
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Tohoku University |
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Principal Investigator |
KOSUGE Kazuhiro 東北大学, 工学(系)研究科(研究院), 教授 (30153547)
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| Co-Investigator(Kenkyū-buntansha) |
SUGAHARA Yusuke 東北大学, 大学院・工学研究科, 助教 (60373031)
KINUGAWA Jun 東北大学, 大学院・工学研究科, 助教 (90612523)
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| Project Period (FY) |
2011-04-01 – 2014-03-31
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| Project Status |
Completed (Fiscal Year 2013)
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| Budget Amount *help |
¥18,070,000 (Direct Cost: ¥13,900,000、Indirect Cost: ¥4,170,000)
Fiscal Year 2013: ¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2012: ¥7,020,000 (Direct Cost: ¥5,400,000、Indirect Cost: ¥1,620,000)
Fiscal Year 2011: ¥6,240,000 (Direct Cost: ¥4,800,000、Indirect Cost: ¥1,440,000)
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| Keywords | 人間機械システム / 確率論的協調メカニズム / パートナロボット / インタラクション / ロボットアーム / 意図理解 / 意図推定 / 衝突安全システム / 確率的協調メカニズム |
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| Research Abstract |
The industrial robot plays a key role in achieving steady quality in a manufacturing industry. However, the industrial robot is poor at completing work for which the experienced adjustment of power is necessary, work for which skill is necessary, and work that varies in a less predictable manner. To improve the present situation, the expectation is sent to the partner robot which achieves the aimed work by doing the work that is difficult for the worker, and supporting the work which becomes a load of the worker.We have constructed a probabilistic coordination mechanism to observe the behavior of the worker, for estimating and predicting the state, intent and behavior of the worker. Moreover, we developed the working support partner robot which can deliver required parts/tools to a worker on time, and built a human robot cooperation working fundamental technology.
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