2011 Fiscal Year Final Research Report
System Integration of Information Acquisition of Dynamic Environments and Caging based Cooperative Object Handling for Multiple Robot System
| Project/Area Number |
20360120
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Chiba Institute of Technology |
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Principal Investigator |
WANG Zhidong 千葉工業大学, 工学部, 教授 (40272017)
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| Co-Investigator(Kenkyū-buntansha) |
KOSUGE Kazuhiro 東北大学, 工学研究科, 教授 (30153547)
HIRATA Yasuhisa 東北大学, 工学研究科, 准教授 (20323040)
TOMIYAMA Ken 千葉工業大学, 工学部, 教授 (30207625)
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| Project Period (FY) |
2008 – 2011
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| Keywords | ロボット工学 / 知能機械 / 制御工学 / 計測工学 / システム工学 / 協調ロボットシステム / 人間協調 |
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| Research Abstract |
In this research, we proposed an information acquisition system for performing caging based cooperative task, such as object transportation and handling in dynamic environments with human activates. For representing the human existence, posture and motion histories, we proposed a concept called Human Motion Map which is a hybrid multiple states probabilistic map system. A Human Motion Map generation and high accuracy map data fusion algorithm is developed for recording and integrating human motion data obtained via multiple experiments. Experiment results illustrate the validity and scalability of the proposed system.
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