| Project/Area Number |
26820082
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | The University of Electro-Communications |
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Principal Investigator |
Suzuki Yosuke 電気通信大学, 情報理工学(系)研究科, 助教 (20582331)
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| Project Period (FY) |
2014-04-01 – 2016-03-31
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| Project Status |
Completed (Fiscal Year 2015)
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| Budget Amount *help |
¥3,770,000 (Direct Cost: ¥2,900,000、Indirect Cost: ¥870,000)
Fiscal Year 2015: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2014: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
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| Keywords | 非接触センシング / 近接センサ / 未知物体把持 / センサフュージョン |
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| Outline of Final Research Achievements |
This study proposed a method that a multi-fingered robot hand quickly grasped various objects, such as industrial products and crops, which had different size and shape. In this method, the robot hand approaches to an object with the proximity sensors on the robot fingertips detecting the object in high-frequency. As a result, the fingers of the robot hand can be moved to trace the object’s surface with keeping a constant distance. Combining the method with vision sensing which estimated the position and reflectance property of the object, it was shown that the robot hand could grasp various objects such as an apple, a soft toy, and so on.
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