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2003 Fiscal Year Final Research Report Summary

Research on Grasping of Unknown Object Imitating Human Grasping Reflex for Anthropomorphic

Research Project

Project/Area Number 14550443
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering
Research InstitutionGifu University

Principal Investigator

KAWASAKI Haruhisa  Gifu University, Department of Human and Information System Engineering, Professor, 工学部, 教授 (40224761)

Co-Investigator(Kenkyū-buntansha) ITO Satoshi  Gifu University, Department of Human and Information System Engineering, Associate Professor, 工学部, 助教授 (70291911)
Project Period (FY) 2002 – 2003
KeywordsRobot / Multi-Finger / Grasping reflex / Tactile sensor / Grasping object
Research Abstract

This research presents a grasping strategy of unknown objects imitating human grasping reflex for anthropomorphic robot hands. The grasping reflex has two actions : grasping action which ensures positive grasping, and keeping action which prevents the release of the object. In the proposed grasping, each joint of the thumb and the fingers is controlled independently using the contact force affecting its adjacent fingertip side link. By setting a suitable contact force, both fingertip grasping and enveloped grasping with uniform grasping force are executable. Experimental results of three-dimensional unknown object grasping using an anthropomorphic robot hand, named Gifu Hand, with a distributed tactile sensor, has been presented. It has been shown that the robot hand equipped with the grasping reflex is able to grasp geometrically unknown objects stably.

  • Research Products

    (11 results)

All Other

All Publications (11 results)

  • [Publications] H.Kawasaki, T.Mouri, J.Takai, S.Ito: "Grasping of Unknown Object Imitating Human Grasping Reflex"Proc.of 15th IFAC Congress on Automatic Control. (CD-ROM). (2002)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] T.Mouri, H.Kawasaki, K.Yoshikawa, J.Takai, S.Ito: "Anthropomorphic Robot Hand : Gifu Hand III"Proc.of 2002 International Conference on Control, Automation and Systems. (CD-ROM). 1288-1293 (2002)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 毛利哲也, 川崎晴久, 伊藤聡: "人間型ロボットハンドによる握り反射を模擬した未知形状物体の把持"日本ロボット学会誌. (投稿中).

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 毛利哲也, 川崎晴久, 吉川桂介, 高井潤, 伊藤聡: "人間型ロボットハンド"Gifu Hand III"とそのリアルタイム制御システム"日本機械学会ロボティックスメカトロニクス部門・ロボティックスメカトロニクス講演会'02,予稿集. (CD-ROM). 2P2-F02(1)-2P2-F02(2) (2002)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 川崎晴久, 毛利哲也, 吉川桂介, 高井潤, 伊藤聡: "人間型ロボットハンド"Gifu Hand III"と握り反射"第20回日本ロボット学会学術講演会予稿集. (CD-ROM). 3E12 (2002)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 川崎晴久, 毛利哲也, 伊藤聡: "物体の保持動作を含む握り反射を模擬した把持戦略"第20回日本ロボット学会学術講演会予稿集. (CD-ROM). 3E18 (2003)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Haruhisa Kawasaki, Tetsuya Mouri, Jun Takai, Satoshi Ito: "Grasping of Unknown Object Imitating Human Grasping Reflex"Proc.of 15th IFAC Congress on Automatic Control, Barcelona, Spain, 2002.7. (CD-ROM).

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Tetsuya Mouri, Haruhisa Kawasaki, Keisuke Yoshikawa, Jun Takai, Satoshi Ito: "Anthropomorphic Robot Hand : Gifu Hand III"Proc.of 2002 International Conference on Control, Automation and Systems, Muju Resort, Korea. (CD-ROM). (2002)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Tetsuya Mouri, Haruhisa Kawasaki, Satoshi Ito: "Grasping of Unknown Object Imitating Human Grasping Reflex for Anthropomorphic Robot Hand,"Journal of Robotics Society of Japan. (submitted).

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Tetsuya Mouri, Haruhisa Kawasaki, Keisuke Yoshikawa, Jun Takai, Satoshi Ito: "Anthropomorphic Robot Hand "GiftiHand III"and Real Time Control System(in Japanese)"JSME Conference on Robotics and Mechatronics' (ROBOMEC'02). (CD-ROM). 2P2-F02(1)-2P2-F02(2)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Haruhisa Kawasaki, Tetsuya Mouri, Satoshi Ito: "Grasping Strategy Imitated Grasping Reflex with Holding Object"RSJ 20th Conference (RSJ 2003)(in Japanese). (CD-ROM). 3E18

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 2005-04-19  

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