2021 Fiscal Year Research-status Report
Research development of the super leading safe and smart next generation robot based on breakthrough superior wideband force perception and outstanding robot artificial intelligence
| Project/Area Number |
20K14713
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| Research Institution | Nagaoka University of Technology |
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Principal Investigator |
TRAN PHUONGTHAO 長岡技術科学大学, 工学研究科, 助教 (20848923)
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| Project Period (FY) |
2020-04-01 – 2023-03-31
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| Keywords | Motion control / Force control / Intelligent sensing / Deep learning / Robot |
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| Outline of Annual Research Achievements |
To build the leading safe, smart and reliable human-robot collaboration system, the superior wideband force observer is proposed to achieve the fine force perception which ensures the precise force perception, especially interaction force with high frequency range. The superior wideband force perception of 1 kHz has been realized. The bandwidth of 1 kHz is much wider than human tactile sensation (400 Hz), and is a record in the field of robot force control. Moreover, the intelligent force sensing has been proposed to realize the high robustness to the variable noise characteristics. The intelligent force sensing has achieved the adaptive force sensation through force observer’s automated parameter tuning under condition of fluctuating noise. The intelligent force sensing has also been designed with the construction of periodicity elimination to solve the problem of undesired and variable periodicities which degrade the performance of force estimation. In addition, the methodology of intelligent force controller for safe human-robot interaction has been being developed together with the intelligent force sensation.
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| Current Status of Research Progress |
Current Status of Research Progress
2: Research has progressed on the whole more than it was originally planned.
Reason
Up to now, the proposed force sensation method has realized the widened force sensing bandwidth of 1 kHz through experimental implementation. The bandwidth of 1 kHz is much wider than human tactile sensation (400 Hz), ensuring the proper force information for controlling interaction with human and environments. Moreover, through experimental implementation, the proposed deep-learning-based intelligent force sensing has realized the adaptive force sensation through force observer’s automated parameter tuning under condition of variable noise. The intelligent force sensation achieves fine interaction force perception under the condition of variable noise characteristics, even in highly noise-contaminated conditions. The periodicity elimination to solve the problem of undesired periodicities which degrade the performance of force estimation has been realized through experiments. The achieved results and the successful implementation of AI based approach promote the completion of the whole intelligent force control system for safe human-robot interaction in the next period of this research.
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| Strategy for Future Research Activity |
To accomplish the target of this research, the wideband and intelligent force sensation realized will be integrated with the deep-learning-based force controller. The development of the methodology of intelligent force controller for safe human-robot interaction will be continued and realized by experiments in the next year.
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