Study on closest packing of multiple objects and packing considering its stability

2017 Fiscal Year Final Research Report

• Project/Area Number: 15K00371
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Intelligent robotics
• Research Institution: National Institute of Advanced Industrial Science and Technology
• Principal Investigator: Onda Hiromu 国立研究開発法人産業技術総合研究所, 情報・人間工学領域, 主任研究員 (40356746)
• Project Period (FY): 2015-04-01 – 2018-03-31
• Keywords: マニピュレーション / ロボット / 作業計画

Outline of Final Research Achievements

In order to analyze the stability of stuffing where objects are in close contact with each other and the work planning method based on it, we developed a sensor module that measures what kind of force acts on one packed object, Measure the force distribution in the final state. We create a sensor module in which a tactile sensor is placed on the surface of the object, measure it while changing the placement order of the object, and measure the difference. Obtain this actual measured value and measure the transition of the force distribution when the order is changed. In general, the force distribution in the case of friction is not uniquely determined, but only the section or the like represented by the inequality is obtained, but estimation of the force distribution within that range is modeled by simulation with measured values It makes inference possible.

Free Research Field

ロボティクス