Teaching method for object manipulation using intermediate grasp representation and autonomous visual tactile feedback
| Project/Area Number |
25330306
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Intelligent robotics
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| Research Institution | Wakayama University |
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Principal Investigator |
OGAWARA Koichi 和歌山大学, システム工学部, 准教授 (70452810)
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| Project Period (FY) |
2013-04-01 – 2016-03-31
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| Project Status |
Completed (Fiscal Year 2015)
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| Budget Amount *help |
¥4,940,000 (Direct Cost: ¥3,800,000、Indirect Cost: ¥1,140,000)
Fiscal Year 2015: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2014: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2013: ¥2,860,000 (Direct Cost: ¥2,200,000、Indirect Cost: ¥660,000)
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| Keywords | 遠隔操作 / 作業教示 / 手形状認識 |
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| Outline of Final Research Achievements |
To teach dexterous object manipulation to a robot, a method for hand shape recognition by visually observing object manipulation demonstrated by a human operator has been developed. A method for generating the motion of a multi-finger hand based on the sequence of recognized hand shapes has been also developed where the desired trajectgory of a manipulated object is realized. Furthermore, an interface has been developed to show the planned motion of a robot to a human operator so that the humnan operator can safely reject the generated motions.
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Report
(4 results)
Research Products
(13 results)
