| Budget Amount *help |
¥35,230,000 (Direct Cost: ¥27,100,000、Indirect Cost: ¥8,130,000)
Fiscal Year 2016: ¥10,530,000 (Direct Cost: ¥8,100,000、Indirect Cost: ¥2,430,000)
Fiscal Year 2015: ¥11,570,000 (Direct Cost: ¥8,900,000、Indirect Cost: ¥2,670,000)
Fiscal Year 2014: ¥13,130,000 (Direct Cost: ¥10,100,000、Indirect Cost: ¥3,030,000)
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| Outline of Final Research Achievements |
In actual grasping, cooperative action of hand and arm is necessary to grasp objects of various shapes, positions and postures. For this reason, we developed a hand / arm integrated control system in which the arm follows the object to be grasped and the hand autonomously traces the shape of the object.Since autonomous grasping is possible, even with a grasping operation by monocular camera image, it is possible to grasp by bringing the hand close to the object, so the reliability of the remote control has been improved. We also introduced a haptic feedback system that supports tasks under poor visibility by remote control. Moreover, by introducing simple vision, global information such as the position and attitude of the object can be acquired, and the application range of the grasping operation has expanded.
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