| Project/Area Number |
23K13287
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| Research Category |
Grant-in-Aid for Early-Career Scientists
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| Allocation Type | Multi-year Fund |
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| Review Section |
Basic Section 20020:Robotics and intelligent system-related
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| Research Institution | The University of Tokyo |
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Principal Investigator |
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| Project Period (FY) |
2023-04-01 – 2024-03-31
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| Project Status |
Completed (Fiscal Year 2023)
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| Budget Amount *help |
¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2025: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2024: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2023: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
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| Keywords | adaptive control / 適応制御 / センサ融合 / ロボティクス / 画像処理 |
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| Outline of Research at the Start |
- Implement realistic-looking computer simulation for the surgical robotic setup.
- Train AI algorithms to learn from those images and generalize that intelligence into real images.
- Use that information to track points of the robot from images.
- Combine all those points in an adaptive controller to increase robot accuracy.
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| Outline of Annual Research Achievements |
In this research, the interest is to investigate the online adjustment of the robot model using many external sensor setups, to provide safer and more precise robot operation. To do so, an external rig with additional sensors must be deployed around the robot to enable such research and its evaluation.
The research was implemented for three months before the lead academic moved to another institution. In that period, a rig composed of several cameras was prepared along with a setup using an existing robotic manipulator. We expect that this initial setup can be used to progress on the directions delineated on the research plan.
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