| Budget Amount *help |
¥24,440,000 (Direct Cost: ¥18,800,000、Indirect Cost: ¥5,640,000)
Fiscal Year 2017: ¥5,460,000 (Direct Cost: ¥4,200,000、Indirect Cost: ¥1,260,000)
Fiscal Year 2016: ¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2015: ¥8,320,000 (Direct Cost: ¥6,400,000、Indirect Cost: ¥1,920,000)
Fiscal Year 2014: ¥6,370,000 (Direct Cost: ¥4,900,000、Indirect Cost: ¥1,470,000)
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| Outline of Final Research Achievements |
There are two main results of this study. One is to propose a mechanism to predict shape change of cloth accompanying operation. Conventionally, it was difficult to define a general model capable of predicting the behavior of cloth, but in this study, we showed an example of solutions, although it was targeted on cloth products of comparatively simple shape. Another achievement is to build a mechanism that allows robots to acquire manipulation methods of cloth products automatically. In order to realize this, we propose a novel movement acquisition framework combining a motion planning method and a reinforcement learning method. The manipulation trajectory suitable for the configuration of the robot arm can be generated automatically by referring to how the human being folds the cloth.
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