2010 Fiscal Year Final Research Report
Pincette manipulation of objects which can not be touched directly with modularization of manipulation space
| Project/Area Number |
20760162
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Kanazawa University |
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Principal Investigator |
WATANABE Tetsuyou Kanazawa University, 機械工学系, 講師 (80363125)
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| Project Period (FY) |
2008 – 2010
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| Keywords | ロボットハンド / 把持 / 物体操作 |
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| Research Abstract |
The purpose of this project is to improve the functions of multi-fingered hands by developing the schema for object grasping and manipulation with tools such as tweezers controlled by multi-fingered robot hands. Its final goal is to develop multi-fingered robot hand systems which are available at the human environment such as home, medicine and welfare. The main contributions are as follows ; establishment of evaluation schema for object manipulability, establishment of schema for realizing object grasping even when contact uncertainties exist, development of database for object grasping, and establishment of the method to plan object grasping and manipulation based on database searching.
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