| Budget Amount *help |
¥25,350,000 (Direct Cost: ¥19,500,000、Indirect Cost: ¥5,850,000)
Fiscal Year 2015: ¥3,120,000 (Direct Cost: ¥2,400,000、Indirect Cost: ¥720,000)
Fiscal Year 2014: ¥8,840,000 (Direct Cost: ¥6,800,000、Indirect Cost: ¥2,040,000)
Fiscal Year 2013: ¥13,390,000 (Direct Cost: ¥10,300,000、Indirect Cost: ¥3,090,000)
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| Outline of Final Research Achievements |
A commonly-used contact model of a soft fingertip was enhanced to the model which can consider a contact with an edge of an object. It's plausibility was established through experiments. A new soft fingertip contact sensor was developed which is composed of a transparent silicone rubber and camera, and it's capability to measure a contact position in addition to a contact force was demonstrated through experiments.
A new object grasping and manipulation method using fingertip contact sensor was developed, and it's effectiveness was shown through numerical simulations and experiments. An object position and attitude estimation method using Kinect v2 was developed, and it made sure that it can estimate an object position and attitude with 100ms or less.
In addition, our object grasping and manipulation controller was enhanced to use a general multi-fingered robotic hand having any number of fingers.
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