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2023 Fiscal Year Final Research Report

Control for whole-body contact transition using optical reflective sensors

Research Project

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Project/Area Number 20K14702
Research Category

Grant-in-Aid for Early-Career Scientists

Allocation TypeMulti-year Fund
Review Section Basic Section 20020:Robotics and intelligent system-related
Research InstitutionKyushu University (2021-2023)
Ritsumeikan University (2020)

Principal Investigator

Arita Hikaru  九州大学, 工学研究院, 助教 (60843993)

Project Period (FY) 2020-04-01 – 2024-03-31
Keywords近接覚 / 衝撃緩和 / 接触遷移
Outline of Final Research Achievements

In this research, we focused on the transition from non-contact to contact state that is necessary when robots perform tasks. As a result of the research, we established a method to detect objects before contact using sensors and generate motions that mitigate impact forces at the time of contact or avoid contact by utilizing the sensor output. Furthermore, we developed a high-speed non-contact sensor that can cover the entire surface of the robot to implement this method for the whole robot body control.

Free Research Field

ロボティクス

Academic Significance and Societal Importance of the Research Achievements

近年の人手不足問題に対する解決策の一つとして,ロボットによる自動化が検討されている.しかし,現在のロボット技術では形状が複雑な対象物を繊細かつ素早く正確に扱うことは難しく,人手を必要とする作業が多く残されている.これに対し,本研究の成果は従来のロボットが特に苦手とする接触間際から接触の瞬間までの動作を制御する方法を提供する.今後ますます重要になる接触をより厳密に扱うための基礎となる成果である.

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Published: 2025-01-30  

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