| Project/Area Number |
24240034
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| Research Category |
Grant-in-Aid for Scientific Research (A)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | The University of Electro-Communications |
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Principal Investigator |
SUEHIRO Takashi 電気通信大学, 大学院情報システム学研究科, 教授 (10357254)
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| Co-Investigator(Kenkyū-buntansha) |
IKEUCHI Katsushi 東京大学, 情報学環, 教授 (30282601)
ONDA Hirom 産業技術総合研究所, 知能システム研究部門, 主任研究員 (40356746)
KUDOH Shunsuke 電気通信大学, 大学院情報システム学研究科, 准教授 (90582338)
TOMIZAWA Tetsuo 電気通信大学, 大学院情報システム学研究科, 助教 (60549707)
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| Project Period (FY) |
2012-04-01 – 2015-03-31
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| Project Status |
Completed (Fiscal Year 2014)
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| Budget Amount *help |
¥46,410,000 (Direct Cost: ¥35,700,000、Indirect Cost: ¥10,710,000)
Fiscal Year 2014: ¥9,360,000 (Direct Cost: ¥7,200,000、Indirect Cost: ¥2,160,000)
Fiscal Year 2013: ¥16,380,000 (Direct Cost: ¥12,600,000、Indirect Cost: ¥3,780,000)
Fiscal Year 2012: ¥20,670,000 (Direct Cost: ¥15,900,000、Indirect Cost: ¥4,770,000)
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| Keywords | 柔軟物操作 / 紐結び / 作業モデル / 作業スキル / 人間観察 / 双腕ロボット / 多指ハンド |
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| Outline of Final Research Achievements |
There were a lot of studies on rope knotting robot systems. But they could not realize a variety of different knotting tasks. One reason for several systems were that they were built in order to realize one specific knotting. Another reason for the other systems were that they based on a universal knot theory to generate robot motions, but the generated motions were not suit for real knotting tasks.
This research proposes to realize knotting tasks as combinations of elemental operations. The elemental operations are abstracted from a variety of actual knotting tasks, and are described as reusable program modules. We realized a variety of knotting tasks based on the proposed method by a dual-arm multi-fingered robot system. These result demonstrate the effectiveness of the method.
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