| Budget Amount *help |
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2013: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
Fiscal Year 2012: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
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| Research Abstract |
A new control method for motion planing where dexterousity of human's dynamic manipulation and its constraint are taken into account has been proposed to achive robots which can be alternative for labors in nursing care and hazardous environments.
In 2012 year, a periodic motion planing for paddle juggling and wall juggling was achieved and a method for a robot to strike a highly spined coming ball to a desired point in a robotic table tennis system.
In 2013 year, a new switching contact modeling was proposed where the dynamic friction model (LuGre model) was integrated. A new motion planing for the racket motion was also derived where the exact solution for the racket rebound model was obtained.
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