2000 Fiscal Year Final Research Report Summary
Research on Control for Sub-Autonomous Multi-Fingered Tele-Robot Systems
| Project/Area Number |
11650444
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Control engineering
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| Research Institution | Nagoya University |
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Principal Investigator |
HAYAKAWA Yoshikazu Nagoya University, Department of Electronic-Mechanical Engineering, Professor, 工学研究科, 教授 (60126894)
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| Project Period (FY) |
1999 – 2000
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| Keywords | multi-fingers robot / tele-operation / sub-autonomous / nonlinear control / mechanics on sliding and rolling / soft finger |
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| Research Abstract |
In this research, regarding the tele-operation as an interface between sub-autonomous robots and operators, in order to expand the previous study, it aims to establish a control strategy for sub-autonomous multi-fingered tele-robot systems. In facts, focusing the communication on position and force information, the following things have been investigated : (1) mechanics on sliding and rolling of multi-fingered robot, (2) structure and sensing for multi-fingered robot from view point of controllability, (3) bilateral control for positions and forces in multivariable systems, (4) cooperation and hierarchy control for multi-fingered tele-robot systems.
In 1999, the multi-fingered tele-robot system was made, some control methods for sub-autonomy were developed, then it was clarified that mechanics on sliding and rolling between fingers and object are very important.
In 2000, the mechanical properties on sliding and rolling phenomena have been made clear, and the previous control methods were improved. In additions, to make the behaviors of grasping and operating more stable, the soft-fingers were made and its stress-strain property was investigated experimentally. From these improvements, the aim of this research has been achieved. The further research is fusion of force sensing and visual sensing.
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