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Stability analysis and optimum position planning for dexterous grasping of multiple objects

Research Project

Project/Area Number 23560285
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionGifu University

Principal Investigator

YAMADA Takayoshi  岐阜大学, 工学部, 准教授 (00273318)

Co-Investigator(Renkei-kenkyūsha) YAMAMOTO Hidehiko  岐阜大学, 工学部, 教授 (20243363)
YAMADA Manabu  名古屋工業大学, 大学院工学研究科, 教授 (40242903)
Project Period (FY) 2011 – 2013
Project Status Completed (Fiscal Year 2013)
Budget Amount *help
¥5,200,000 (Direct Cost: ¥4,000,000、Indirect Cost: ¥1,200,000)
Fiscal Year 2013: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
Fiscal Year 2012: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2011: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Keywordsロボット / 多指ハンド / 把持の安定性 / 複数対象物 / 高度な操り / 剛性行列 / 最適把持の設計 / 把握系の安定性
Research Abstract

Multifingered robot hands have the potential to dexterously grasp and manipulate any shaped objects. In this research project, I have investigated the grasp stability of multiple objects and the optimum grasp planning problem based on the analysis. In the planar case, grasps of multiple objects with sliding and rolling contacts between fingers and objects were analyzed. The effects of grasp parameters to the grasp stability were analytically obtained by formulating the partial derivative of the grasp stiffness matrix. In the spatial case, not only the sliding and rolling contacts but also contact surface geometry (metric tensor, curvature and torsion) were considered. An optimum grasp planning algorithm was proposed and its effectiveness was demonstrated by using experimental devices for grasping a single object. In order to include the revolute joints and link lengths of the hands, rotational stiffness model was used. The grasp stiffness matrix was analytically derived on the model.

Report

(4 results)
  • 2013 Annual Research Report   Final Research Report ( PDF )
  • 2012 Research-status Report
  • 2011 Research-status Report
  • Research Products

    (39 results)

All 2014 2013 2012 2011

All Journal Article (5 results) (of which Peer Reviewed: 5 results) Presentation (34 results)

  • [Journal Article] Static Grasp Stability Analysis of Two Spatial Objects Including Contact Surface Geometry2012

    • Author(s)
      Takayoshi YAMADA, Toshiya TAKI, Manabu YAMADA, Hidehiko YAMAMOTO
    • Journal Title

      TRANSACTION ON CONTROL AND MECHANICAL SYSTEMS

      Volume: vol.1, No. 5 Pages: 218-228

    • Related Report
      2013 Final Research Report
    • Peer Reviewed
  • [Journal Article] Static Stability Analysis of a Single Planar Object Grasped by a Multifingered Hand2012

    • Author(s)
      Takayoshi YAMADA, Manabu YAMADA, Hidehiko YAMAMOTO
    • Journal Title

      Journal of Mechanics Engineering and Automation

      Volume: vol.2, No. 10 Pages: 606-627

    • Related Report
      2013 Final Research Report
    • Peer Reviewed
  • [Journal Article] Static Stability Analysis of a Single Planar Object Grasped by a Multifingered Hand2012

    • Author(s)
      Takayoshi Yamada, Manabu Yamada, Hidehiko Yamamoto
    • Journal Title

      Journal of Mechanics Engineering and Automation

      Volume: Vol. 2, No. 10 Pages: 606-627

    • Related Report
      2012 Research-status Report
    • Peer Reviewed
  • [Journal Article] Static Grasp Stability Analysis of Two Spatial Objects Including Contact Surface Geometry2012

    • Author(s)
      Takayoshi Yamada1, Toshiya Taki, Manabu Yamada, Hidehiko Yamamoto
    • Journal Title

      TRANSACTION ON CONTROL AND MECHANICAL SYSTEMS

      Volume: VOL. 1, NO. 5 Pages: 218-228

    • Related Report
      2012 Research-status Report
    • Peer Reviewed
  • [Journal Article] 自律分散型FMSにおける心を持つAGVの行動制御2011

    • Author(s)
      山本秀彦,山田貴孝
    • Journal Title

      日本機械学会論文集C編

      Volume: 77 Pages: 2130-2138

    • NAID

      130000873650

    • Related Report
      2011 Research-status Report
    • Peer Reviewed
  • [Presentation] 把持の安定性を基にした二次元最適把持の自動生成2014

    • Author(s)
      丹羽建太,山田貴孝,山本秀彦
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2014, ROBOMECH2014 3P2-R03
    • Place of Presentation
      富山市総合体育館
    • Year and Date
      2014-05-28
    • Related Report
      2013 Final Research Report
  • [Presentation] 力覚情報を用いたロボットの接触状態の同定2014

    • Author(s)
      白木大介,山田貴孝,中西翔太郎,山本秀彦
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2014, ROBOMECH2014 1P1-X10
    • Place of Presentation
      富山市総合体育館
    • Year and Date
      2014-05-26
    • Related Report
      2013 Final Research Report
  • [Presentation] SECOND-ORDER MOBILITY ANALYSIS OF GRASPS CONSIDERING CONTACT SURFACE GEOMETRY2014

    • Author(s)
      Takayoshi YAMADA, Hisahiro TORII, Hidehiko YAMAMOTO, Rolf JOHANSSON
    • Organizer
      17th International Conference on Climbing and Walking Robots (CLAWAR2014)
    • Place of Presentation
      Poznan, Poland
    • Related Report
      2013 Final Research Report
  • [Presentation] Identification of Contact Conditions between Fingers and a Grasped Object by Active Force Sensing2014

    • Author(s)
      Takayoshi YAMADA, Shotaro NAKANISHI, Hidehiko YAMAMOTO, Rolf Johansson
    • Organizer
      Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2014)
    • Place of Presentation
      Besancon, France
    • Related Report
      2013 Final Research Report
  • [Presentation] 把持の安定性を基にした二次元最適把持の自動生成2014

    • Author(s)
      丹羽建太,山田貴孝,山本秀彦
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2014
    • Place of Presentation
      富山市総合体育館
    • Related Report
      2013 Annual Research Report
  • [Presentation] 力覚情報を用いたロボットの接触状態の同定(遷移検出とセンシング方策の検討)2014

    • Author(s)
      白木大介,山田貴孝,中西翔太郎,山本秀彦
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2014
    • Place of Presentation
      富山市総合体育館
    • Related Report
      2013 Annual Research Report
  • [Presentation] Grasp Parameter Effect for Static Grasp Stability of a Single Planar Object2013

    • Author(s)
      Takayoshi YAMADA , Hidehiko YAMAMOTO
    • Organizer
      Proceedings of the SICE Annual Conference 2013 (SICE2013)
    • Place of Presentation
      Nagoya University, Nagoya, Japan
    • Year and Date
      2013-09-15
    • Related Report
      2013 Final Research Report
  • [Presentation] 二次元平面把持の二次近似可動性解析2013

    • Author(s)
      山田貴孝,山本秀彦
    • Organizer
      第31回日本ロボット学会学術講演会予稿集
    • Place of Presentation
      首都大学東京(CD-ROM)
    • Year and Date
      2013-09-06
    • Related Report
      2013 Final Research Report
  • [Presentation] 三次元把持の二次近似可動性解析2013

    • Author(s)
      山田貴孝,鳥居久紘,山本秀彦
    • Organizer
      第31回日本ロボット学会学術講演会予稿集
    • Place of Presentation
      首都大学東京(CD-ROM)
    • Year and Date
      2013-09-06
    • Related Report
      2013 Final Research Report
  • [Presentation] 力覚情報を用いた接触状態の同定(指先を既知形状とした場合の同定実験およびOpenGLによる可視化)2013

    • Author(s)
      山田貴孝,中西翔太郎,山本秀彦
    • Organizer
      第31回日本ロボット学会学術講演会予稿集
    • Place of Presentation
      首都大学東京(CD-ROM)
    • Year and Date
      2013-09-06
    • Related Report
      2013 Final Research Report
  • [Presentation] 把持の安定性を基にした三次元最適把持位置の自動生成2013

    • Author(s)
      山田貴孝,長谷川真土,山本秀彦
    • Organizer
      第31回日本ロボット学会学術講演会予稿集
    • Place of Presentation
      首都大学東京(CD-ROM)
    • Year and Date
      2013-09-06
    • Related Report
      2013 Final Research Report
  • [Presentation] Grasp Stability Analysis of Multiple Objects including Contact Surface Geometry in 3D2013

    • Author(s)
      Takayoshi YAMADA, Hidehiko YAMAMOTO
    • Organizer
      Proceedings of 2013 IEEE International Conference on Mechatronics and Automation (ICMA2013)
    • Place of Presentation
      Takamatsu, Japan
    • Year and Date
      2013-08-04
    • Related Report
      2013 Final Research Report
  • [Presentation] 力覚情報を用いた接触状態の同定(種類別推定の計算量の低減)2013

    • Author(s)
      白木大介,山田貴孝,山本秀彦
    • Organizer
      日本機械学会東海支部第62期総会講演会講演論文集
    • Place of Presentation
      三重大学
    • Related Report
      2013 Final Research Report
  • [Presentation] 力覚情報を用いた接触状態の同定(OpenGLを用いた実験結果の可視化)2013

    • Author(s)
      中西翔太郎,山田貴孝,山本秀彦
    • Organizer
      日本機械学会東海支部第62期総会講演会講演論文集
    • Place of Presentation
      三重大学
    • Related Report
      2013 Final Research Report
  • [Presentation] Grasp stability analysis of multiple objects including contact surface geometry in 3D2013

    • Author(s)
      Takayoshi YAMADA, Hidehiko YAMAMOTO
    • Organizer
      IEEE International Conference on Mechatronics and Automation
    • Place of Presentation
      Takamatsu, Japan
    • Related Report
      2013 Annual Research Report
  • [Presentation] 二次元平面把持の二次近似可動性解析2013

    • Author(s)
      山田貴孝,山本秀彦
    • Organizer
      第31回日本ロボット学会学術講演会
    • Place of Presentation
      首都大学東京 南大沢キャンパス
    • Related Report
      2013 Annual Research Report
  • [Presentation] 三次元把持の二次近似可動性解析2013

    • Author(s)
      山田貴孝,鳥居久紘,山本秀彦
    • Organizer
      第31回日本ロボット学会学術講演会
    • Place of Presentation
      首都大学東京 南大沢キャンパス
    • Related Report
      2013 Annual Research Report
  • [Presentation] 把持の安定性を基にした三次元把持位置の自動生成2013

    • Author(s)
      山田貴孝,長谷川真土,山本秀彦
    • Organizer
      第31回日本ロボット学会学術講演会
    • Place of Presentation
      首都大学東京 南大沢キャンパス
    • Related Report
      2013 Annual Research Report
  • [Presentation] 力覚情報を用いた接触状態の同定(指先を既知形状とした場合の同定実験およびOpenGLによる可視化)2013

    • Author(s)
      山田貴孝,中西翔太郎,山本秀彦
    • Organizer
      第31回日本ロボット学会学術講演会
    • Place of Presentation
      首都大学東京 南大沢キャンパス
    • Related Report
      2013 Annual Research Report
  • [Presentation] Grasp Parameter Effect for Static Grasp Stability of a Single Planar Object2013

    • Author(s)
      Takayoshi YAMADA, Hidehiko YAMAMOTO
    • Organizer
      SICE Annual Conference 2013
    • Place of Presentation
      Nagoya University, Nagoya, Japan
    • Related Report
      2013 Annual Research Report
  • [Presentation] Cell-production Parts Layout by Virtual Factory System using Reinforcement Learning and MTM2013

    • Author(s)
      Hidehiko YAMAMOTO, Tsuyoshi SUGIMOTO, Takayoshi YAMADA, Masahiro NAKAMURA
    • Organizer
      The Eighteenth International Symposium on Artificial Life and Robotics 2013 (AROB 18th ’13)
    • Place of Presentation
      韓国大田広域市
    • Related Report
      2012 Research-status Report
  • [Presentation] 力覚情報を用いた接触状態の同定(種類別推定の計算量の低減)2013

    • Author(s)
      白木大介,山田貴孝,山本秀彦
    • Organizer
      日本機械学会東海支部第62期総会講演会講演論文集
    • Place of Presentation
      三重大学
    • Related Report
      2012 Research-status Report
  • [Presentation] 力覚情報を用いた接触状態の同定(OpenGLを用いた実験結果の可視化)2013

    • Author(s)
      中西翔太郎,山田貴孝,山本秀彦
    • Organizer
      日本機械学会東海支部第62期総会講演会講演論文集
    • Place of Presentation
      三重大学
    • Related Report
      2012 Research-status Report
  • [Presentation] Stability Analysis of Multiple Objects Grasped by Multifingered Hands with Revolute Joints in 2D2012

    • Author(s)
      Takayoshi YAMADA, Manabu YAMADA, Hidehiko YAMAMOTO
    • Organizer
      2012 IEEE International Conference on Mechatronics and Automation (ICMA2012)
    • Place of Presentation
      Chengdu, China
    • Year and Date
      2012-08-08
    • Related Report
      2013 Final Research Report
  • [Presentation] 二次元平面内における単一対象物包み込み把持の安定性解析2012

    • Author(s)
      鳥居久紘,山田貴孝,山本秀彦
    • Organizer
      日本機械学会ロボティクス・メカトロニクス部門
    • Place of Presentation
      アクトシティ浜松
    • Year and Date
      2012-05-28
    • Related Report
      2013 Final Research Report
  • [Presentation] 二次元平面内における単一対象物包み込み把持の安定性解析2012

    • Author(s)
      鳥居久紘,山田貴孝,山本秀彦
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2012
    • Place of Presentation
      静岡県浜松市
    • Related Report
      2012 Research-status Report
  • [Presentation] Stability Analysis of Multiple Objects Grasped by2012

    • Author(s)
      Takayoshi YAMADA, Manabu YAMADA, Hidehiko YAMAMOTO
    • Organizer
      International Conference on Mechatronics and Automation
    • Place of Presentation
      中国成都市
    • Related Report
      2012 Research-status Report
  • [Presentation] Grasp Stability Analysis of Two Objects by Considering Contact Surface Geometry in 3D2011

    • Author(s)
      Takayoshi YAMADA, Toshiya TAKI, Manabu YAMADA, Hidehiko YAMAMOTO
    • Organizer
      International Conference on Robotics and Biomimetics (ROBIO2011)
    • Place of Presentation
      Phuket, Thailand
    • Year and Date
      2011-12-09
    • Related Report
      2013 Final Research Report
  • [Presentation] 二次元複数対象物把握系の安定性解析(シミュレータを用いた変位モードの可視化)2011

    • Author(s)
      林和成,山田貴孝,山本秀彦
    • Organizer
      第29回日本ロボット学会学術講演会予稿集
    • Place of Presentation
      芝浦工業大学豊洲キャンパス(CD)
    • Year and Date
      2011-09-09
    • Related Report
      2013 Final Research Report
  • [Presentation] Stability Analysis of A Single Object Grasped by A Multifingered Hand with Angular Joints in 2D2011

    • Author(s)
      Takayoshi YAMADA, Manabu YAMADA, Hidehiko YAMAMOTO
    • Organizer
      International Conference on Mecatronics and Automation (ICMA2011)
    • Place of Presentation
      Beijing, China
    • Year and Date
      2011-08-10
    • Related Report
      2013 Final Research Report
  • [Presentation] Stability Analysis of A Single Object Grasped by A Multifingered Hand with Angular Joints in 2D2011

    • Author(s)
      Takayoshi YAMADA, Manabu YAMADA, Hidehiko YAMAMOTO
    • Organizer
      International Conference on Mecatronics and Automation (ICMA2011)
    • Place of Presentation
      中国,北京
    • Related Report
      2011 Research-status Report
  • [Presentation] Grasp Stability Analysis of Two Objects by Considering Contact Surface Geometry in 3D2011

    • Author(s)
      Takayoshi YAMADA, Toshiya TAKI, Manabu YAMADA, Hidehiko YAMAMOTO
    • Organizer
      International Conference on Robotics and Biomimetics (ROBIO2011)
    • Place of Presentation
      タイ国,プーケット
    • Related Report
      2011 Research-status Report
  • [Presentation] 二次元複数対象物把握系の安定性解析(シミュレータを用いた変位モードの可視化)2011

    • Author(s)
      林和成,山田貴孝,山本秀彦
    • Organizer
      第29回日本ロボット学会学術講演会(RSJ2011)
    • Place of Presentation
      芝浦工業大学豊洲キャンパス
    • Related Report
      2011 Research-status Report
  • [Presentation] Development of Virtual Factory for Variety Products and Its Visibility of Operator Jobs2011

    • Author(s)
      Hidehiko YAMAMOTO, Kohei ISHIKAWA, Takayoshi YAMADA, Masahiro NAKAMURA
    • Organizer
      The Fourth International Conference on Human-Environment System (ICHES2011)
    • Place of Presentation
      北海道大学
    • Related Report
      2011 Research-status Report

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Published: 2011-08-05   Modified: 2019-07-29  

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