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2007 Fiscal Year Final Research Report Summary

Development of Robotic Hand System with Soft Skin for Realizing Reliable Grasping and Manipulation

Research Project

Project/Area Number 17360114
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionRitsumeikan University

Principal Investigator

YOSHIKAWA Tsuneo  Ritsumeikan University, Department of Human and Computer Intelligence, Professor (60026177)

Co-Investigator(Kenkyū-buntansha) YOKOKOHJI Yasuyoshi  Kyoto University, Graduate School of Engineering, Associate Professor (30202394)
MITSUDA Takashi  Ritsumeikan University, Department of Human and Computer Intelligence, Associate Professor (30335591)
KOEDA Masanao  Ritsumeikan University, Department of Human and Computer Intelligence, Lecturer (10411232)
Project Period (FY) 2005 – 2007
KeywordsRobot / Hand / Grasping / Manipulation / Soft skin / Soft finger
Research Abstract

The goal of this research is to develop a robotic hand system covered my soft skin, which is softer than usually considered, for the purpose of reliable and safe realization of grasping and manipulation of objects and to establish a control methodology of this hand system. Taking advantage of this soft skin structure, this system can realize both soft grasp state that largely complies with external forces exerted to the grasped object, and hard grasp state that hardly complies with external forces even when they are large. Moreover, due to the deformation of the soft finger skin, the contact area between the object and fingers is larger than the case of hard fingers, contributing to reliable grasping and manipulation. Grasping of objects with fingers placed on their edges will also be possible.
A brief overview of the results obtained this year is as follows.
(1) Development of a control algorithm for the hand-arm system : To improve adaptability of the system to the work environment, a function of adjusting the position and orientation of the arm portion based on a partial task space trajectory data during performing the task is integrated into the control algorithm.
(2) Experiment and evaluation of grasping and manipulation tasks : The validity of the control algorithm developed in(1) has been experimentally demonstrated for the task of turning cranks.
(3) Grasping unknown objects based on visual information : A procedure has been established for recognizing the shape of an unknown object from the visual information obtained by an omni-directional camera attached to the hand, and for obtaining the best positions for grasping it by a multi-fingered hand. The usefulness of the procedure has been demonstrated by some experiments.
(4) Discussion and preparing report : Results obtained from the research work during the last three years have been reviewed and summarized. Some future research directions have been pointed out. Final report is now being prepared.

  • Research Products

    (7 results)

All 2007 2006

All Journal Article (4 results) (of which Peer Reviewed: 3 results) Presentation (3 results)

  • [Journal Article] Grasping Optimization using a Required External Force Set2007

    • Author(s)
      Tetsuyou Watanabe
    • Journal Title

      IEEE Trans.Automation Science & Engineering 4

      Pages: 52-66

    • Description
      「研究成果報告書概要(和文)」より
    • Peer Reviewed
  • [Journal Article] 能動受動混合拘束下での物体操作2007

    • Author(s)
      渡辺 哲陽
    • Journal Title

      日本ロボット学会誌 25

      Pages: 643-650

    • Description
      「研究成果報告書概要(和文)」より
    • Peer Reviewed
  • [Journal Article] Objict Manipulation under Hybrid Active/Passive closure2007

    • Author(s)
      Tetsuyou Watanabe
    • Journal Title

      Journal of the Robotics Society of Japan vol.25, No.4

      Pages: 643-650

    • Description
      「研究成果報告書概要(欧文)」より
  • [Journal Article] 能動受動混合拘束の力学2006

    • Author(s)
      渡辺 哲陽
    • Journal Title

      日本ロボット学会誌 24

      Pages: 131-139

    • Description
      「研究成果報告書概要(和文)」より
    • Peer Reviewed
  • [Presentation] A Quantitative Evaluation Method of Handedness Using Haptic Virtual Reality Technology2007

    • Author(s)
      Tsuneo Yoshikawa
    • Organizer
      16th IEEE International Symposium on Robot & Human Interactive Communication(IEEE ROMAN 2007)
    • Place of Presentation
      Jeju, Korea
    • Year and Date
      2007-08-27
    • Description
      「研究成果報告書概要(欧文)」より
  • [Presentation] Grasping and Manipulation by Soft-Fingered Robot Hands2007

    • Author(s)
      Tsuneo Yoshikawa
    • Organizer
      CD-Rom Proc.13th Int.Conf.Advanced Robotics
    • Place of Presentation
      Jeju,Korea
    • Year and Date
      2007-08-24
    • Description
      「研究成果報告書概要(和文)」より
  • [Presentation] Grasping and Manipulation by Soft-Fingered Robot Hands2007

    • Author(s)
      Tsuneo Yoshikawa
    • Organizer
      13th International Conference on Advanced Robotics(ICAR 2007)
    • Place of Presentation
      Jeju, Korea
    • Year and Date
      2007-08-24
    • Description
      「研究成果報告書概要(欧文)」より

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Published: 2010-02-04  

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