Meta-understanding of Human Hand Dexterity Through Measuring Human Work and Mechanical Realization of Manipulation Function

2009 Fiscal Year Final Research Report

• Project/Area Number: 19300068
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: Kyoto University
• Principal Investigator: YOKOKOHJI Yasuyoshi Kyoto University, 大学院・工学研究科, 教授 (30202394)
• Research Collaborator: TANAKA Kenta 京都大学, 大学院・工学研究科・修士課程 ; KIHARA Yasuyuki 京都大学, 大学院・工学研究科・修士課程
• Project Period (FY): 2007 – 2009
• Keywords: ロボットハンド / マニピュレーション / スキル / 柔軟物操作 / 作業教示

Research Abstract

This research aimed at fundamental understanding of human hand dexterity with task-oriented approach and "Origami-folding" was chosen as a target task. By observing and analyzing human work folding a specific origami form "Tadpole", it was found that four fingers each of which has three degrees-of-freedom were enough for folding the "Tadpole". An origami-folding robot was prototyped and the robot could actually fold the "Tadpole" successively.
To dexterously manipulate flexible objects whose behavior may fluctuate like origami paper, a novel method to synthesize a desired trajectory and sensory feedback control laws for the robot based on the statistical feature of direct teaching data demonstrated by a human was proposed. Experimental results showed that the success rate and folding quality were improved by the proposed method. Finally, the proposed method was generalized based on the canonical correlation between sensory data and the robot motion data obtained by direct teaching.

Research Products

• [Journal Article] 人間の直接教示動作の統計的性質に基づいた折り紙ロボットの目標軌道とセンサフィードバック動作生成法 (2009)
  • Author(s): 田中健太, 木原康之, 横小路泰義
  • Journal Title: 日本ロボット学会誌 27,4 Pages: 685-695
• [Journal Article] Origami Folding by a Rbotic Hand (2008)
  • Author(s): Kenta Tanaka, Yusuke Kamotani, Yasuyoshi Yokokohji
  • Journal Title: Jrnal of Rotics and Mechatronics 20,4 Pages: 550-558
• [Presentation] Skill Transfer from Human to Robot by Direct Teaching and Task Sharing-A Case Study with Origami Folding Task- (2010)
  • Author(s): Yasuyuki Kihara, Yasuyoshi Yokokohji
  • Organizer: The 11th IFAC/IFIP/IFORS/IEA Symposium on Analysis, Design and Evaion of Human-Machine Systems
  • Place of Presentation: Phenix Conference Center, Valenciennes, France(to appear)
  • Year and Date: 20100831-20100903
• [Presentation] 人間の直接教示動作に基づく複数センサによるセンサフィードバック則生成法 (2009)
  • Author(s): 木原康之, 横小路泰義
  • Organizer: 第10回計測自動制御学会システムインテグレーション部門講演会論文集
  • Place of Presentation: 芝浦工業大学豊洲キャンパス
  • Year and Date: 20091224-20091226
• [Presentation] 人間の直接教示動作の統計的性質からのロボットへの作業スキル移植-折り紙動作を題材として- (2009)
  • Author(s): 木原康之, 横小路泰義
  • Organizer: 電子情報通信学会技術報告(手研究会)
  • Place of Presentation: 北海道大学学術交流会館
  • Year and Date: 20090615-20090616
• [Presentation] Synthesizing a Desired Trajectory and Sensory Feedback Control Laws for an Origami-Folding Robot based on the Statistical Characteristics of Direct Teaching by a Human (2009)
  • Author(s): Kenta Tanaka, Yasuyuki Kihara, Yasuyoshi Yokokohji
  • Organizer: 2009 IEEE International Conference on Robotics and Automation (ICRA 2009)
  • Place of Presentation: Kobe International Conference Center, Kobe, Japan
  • Year and Date: 20090512-20090517
• [Presentation] 人間の直接教示動作の正準相関に基づく折り紙ロボットの動作生成法 (2008)
  • Author(s): 木原康之, 横小路泰義
  • Organizer: 第9回計測自動制御学会システムインテグレーション部門講演会論文集
  • Place of Presentation: 長良川国際会議場/未来会館
  • Year and Date: 20081205-20081207
• [Presentation] 人間の直接教示動作の統計的性質に基づいた折り紙ロボットの目標軌道とセンサフィードバック動作生成法 (2008)
  • Author(s): 田中健太, 横小路泰義
  • Organizer: 第13回ロボティクスシンポジア予稿集
  • Place of Presentation: 湯元こんぴら温泉琴参閣
  • Year and Date: 20080316-20080317
• [Presentation] 人間の直接教示動作の統計的性質に基づいた折り紙ロボットの目標軌道生成とセンサーフィードバック動作生成法 (2007)
  • Author(s): 田中健太, 横小路泰義
  • Organizer: 電子情報通信学会技術研究報告(手研究会)
  • Place of Presentation: 金沢工業大学扇が丘キャンパス
  • Year and Date: 20071119-20071120
• [Presentation] Origa Folding by a Robotic Hand (2007)
  • Author(s): Kenta Tanaka, Yusuke Kamotani, YasuoshYokokohj
  • Organizer: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007)
  • Place of Presentation: Sheraton Hotl San Diego & Marina, San Diego, CA, USA
  • Year and Date: 20071029-20071102
• [Presentation] 人間の直接教示動作に基づいた折り紙ロボットの動作生成法 (2007)
  • Author(s): 田中健太, 横小路泰義
  • Organizer: 第25回日本ロボット学会学術講演会
  • Place of Presentation: 千葉工業大学津田沼キャンパス
  • Year and Date: 20070913-20070915
• [Remarks] 横小路泰義:“折り紙を折るロボット",折り紙探偵団(日本折紙学会機関紙), 19,5, p.10-13, 2009