2022 Fiscal Year Final Research Report
State Prediction and Motion Planning for Deformable Object Manipulation with Work Procedures
| Project/Area Number |
20H04262
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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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| Review Section |
Basic Section 61050:Intelligent robotics-related
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| Research Institution | Shinshu University |
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Principal Investigator |
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| Project Period (FY) |
2020-04-01 – 2023-03-31
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| Keywords | 不定形物操作 / ロボット / 作業手順 / 動作計画 / 状態推定 |
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| Outline of Final Research Achievements |
The objective of this research is to establish methods for automatic machines to acquire the ability to realize "deformable object manipulation with procedures". For this purpose, we aimed to realize three functions. (a) the ability to predict the behavior of an deformable object, (b) the ability to manipulate a deformable object in order to give it a desired shape change, and (c) the ability to understand the manipulation procedure and to create an appropriate procedure. We have proposed a means to realize these abilities, and have demonstrated that autonomous robots can manipulate deformable objects, such as the folding of fabrics and clothes, through experiments.
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| Free Research Field |
知能ロボティクス
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| Academic Significance and Societal Importance of the Research Achievements |
自動機械による不定形物の操作を一つの実用的な分野として拡大するには，「不定形物の目標状態を提示すると，その状態へ移行させる方法を自動で考案し，操作を加え，作業を達成する」能力を自動機械に与えることが重要な要素の一つと考える．本研究では，そのような高い自律性を要する作業の実行能力に関する手法を提案し，さらには複数の事例を用いて検証する．これにより，不定形物作業の自動化の参入障壁を低くし，多くの研究者や技術者に受け入れられる土壌を創ることに貢献できると考える．
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