Research on Multi-modal Sensory Skin Structure with Distributed AirBubble and External Pressure for Whole-body Robotics Suit

• Project/Area Number: 23650095
• Research Category: Grant-in-Aid for Challenging Exploratory Research
• Allocation Type: Multi-year Fund
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: The University of Tokyo
• Principal Investigator: OKADA Kei 東京大学, 大学院情報理学系研究科, 准教授 (70359652)
• Project Period (FY): 2011 – 2012
• Project Status: Completed (Fiscal Year 2012)
• Budget Amount: ¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000); Fiscal Year 2012: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000); Fiscal Year 2011: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
• Keywords: ヒューマノイド / 衝撃吸収 / 多感覚外装 / 気泡分布 / 皮膚構造 / 等身大ヒューマノイド / 全身着ぐるみスーツ / 接触状態識別器 / 全身触覚被覆外装 / 転倒接触行動

Research Abstract

In this research, we introduced a design methodology to dispersedly arrange 347 multi-axis soft tactile sensors to a humanoid robot and an algorithm to determine environmental contact status; push, sheer and twist from integration of deformation of sensor modules. Usefulness of these approach are confirmed with a humanoid robot platform and real-world task experiments.

Research Products

• [Journal Article] 柔軟変形多軸触覚を分散配置した等身大ヒューマノイド用外装による物体受渡作用の検知反応行動の実現 (2013)
  • Author(s): 熊谷伊織,小林一也,野沢峻一,垣内洋平,吉海智晃,稲葉雅幸
  • Journal Title: 日本ロボット学会誌 Volume: Vol. 31,No. 10
  • Peer Reviewed
• [Journal Article] 柔軟変形多軸触覚を分散内蔵した等身大ヒューマノイド用外装に基づく 物体受渡作用の検知反応行動の実現 (2013)
  • Author(s): 熊谷 伊織
  • Journal Title: 日本ロボット学会誌 Volume: Vol.31, No.10
  • Peer Reviewed
• [Journal Article] Development of a Full Body Multi-Axis Soft Tactile Sensor Suit for Li fe Sized Humanoid Robot and an Algorithm to Detect Contact State (2012)
  • Author(s): Iori Kumagai
  • Journal Title: Proceedings of the 2012 IEEE-RAS International Confere\ nce on Humanoid Robots Volume: 1
  • Peer Reviewed
• [Presentation] Masayuki Inaba:Development of a Full Body Multi-Axis Soft Tactile Sensor Suit for Life Sized Humanoid Robot and an Algorithm to Detect Contact States, (2012)
  • Author(s): Iori Kumagai, Kazuya Kobayashi, Shunichi Nozawa, Yohei Kakiuchi, Tomoaki Yoshikai,Kei Okada
  • Organizer: Proceedings of the 2012 IEEE-RAS International Conference on Humanoid Robots(Humanoids 2012),
• [Presentation] 環境接触行動ヒューマノイドのための柔軟変形多軸触覚センサを用いた全身分散配置被覆外装の実現 (2011)
  • Author(s): 熊谷伊織, 野沢峻一, 垣内洋平, 吉海智晃,岡田慧, 稲葉雅幸
  • Organizer: 第12回SICE システムインテグレーション部門講演会講演概要集,
• [Presentation] 環境接触行動ヒューマノイドのための柔軟変形多軸触覚センサを用いた全身分散配置被覆外装の実現 (2011)
  • Author(s): 熊谷伊織, 野沢峻一, 垣内洋平, 吉海智晃, 岡田慧, 稲葉雅幸
  • Organizer: 第12回SICEシステムインテグレーション部門講演会講演概要集
  • Place of Presentation: 京都