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2010 Fiscal Year Final Research Report

A Study of Error Recovery System for a Mobile Dual-Arm Robot Working in Daily Environments

Research Project

  • PDF
Project/Area Number 21700218
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeSingle-year Grants
Research Field Perception information processing/Intelligent robotics
Research InstitutionThe University of Tokyo

Principal Investigator

YAMAZAKI Kimitoshi  The University of Tokyo, 大学院・情報理工学系研究科, 特任助教 (00521254)

Project Period (FY) 2009 – 2010
Keywords知能ロボット
Research Abstract

One of the abilities needed for daily assistive robots is to handle daily tools which exist for daily living. The purpose of this study is to develop robotic functions used for error handling and to verify the functions by means of experiments in real environment. Error targeted in this study indicates the condition that the robot cannot confirm the state of manipulated object with desired state.
These functions include abilities for (i) error prevention, (ii) error detection and (iii) error recovery. We proposed the methods how to construct such function and integrated the functions into a real robot having many DOFs (degrees of freedoms) like a human.

  • Research Products

    (13 results)

All 2011 2010 2009 Other

All Journal Article (2 results) Presentation (10 results) Book (1 results)

  • [Journal Article] Tidying and Cleaning Rooms by a Daily Assistive Robot-An Integrated System for Doing Chores in Real World-2011

    • Author(s)
      Kimitoshi Yamazaki, Ryohei Ueda, Shunichi Nozawa, Yuto Mori, Toshiaki Maki, Naotaka Hatao, Kei Okada, MasayukiInaba
    • Journal Title

      Journal of Behavioral Robotics

  • [Journal Article] 仮想マニピュレータを用いた移動ロボットの反射的動作生成法2011

    • Author(s)
      山崎公俊, 稲葉雅幸
    • Journal Title

      日本ロボット学会誌 vol.29, no.2

      Pages: 163-171

  • [Presentation] Recognition and Manipulation Integration of a Daily Assistive Robot Working on Kitchen Environment2010

    • Author(s)
      Kimitoshi Yamazaki, Yoshiaki Watanabe, Kotaro Nagahama, Kei Okada, Masayuki Inaba
    • Organizer
      Proc.of IEEE Int'l Conf.on Robotics and Biomimetics, pp.196-201
    • Year and Date
      20100000
  • [Presentation] ヒューマノイドの低次視覚機能による人の道具操作行動観測を目的とした時空間対象追跡2010

    • Author(s)
      長濱, 西野, 山崎, 岡田, 稲葉
    • Organizer
      第28回日本ロボット学会学術講演会,講演番号1A2-2
    • Year and Date
      20100000
  • [Presentation] 力覚状態認識に基づく包丁を用いた野菜切断行動のヒューマノイドによる実現2010

    • Author(s)
      渡辺, 長濱, 山崎, 岡田, 稲葉
    • Organizer
      ロボティクス・メカトロニクス講演会'10,講演番号2A2-B17
    • Year and Date
      20100000
  • [Presentation] 一般調理道具を扱う等身大ヒューマノイドの認識行動システム統合とサラダ調理の実現2010

    • Author(s)
      渡辺, 長濱, 山崎, 岡田, 稲葉
    • Organizer
      ロボティクス・メカトロニクス講演会'10,講演番号2A2-A17
    • Year and Date
      20100000
  • [Presentation] 表皮視覚認識と凹凸形状へのなじみ動作に基づく野菜皮むき動作のヒューマノイドによる実現2010

    • Author(s)
      渡辺, 長濱, 山崎, 岡田, 稲葉
    • Organizer
      ロボティクス・メカトロニクス講演会'10,講演番号2A2-A16
    • Year and Date
      20100000
  • [Presentation] PR2の認識・把持・移動機能統合による日用品片付け行動の実現2010

    • Author(s)
      山崎, 矢口, 花井, 稲葉
    • Organizer
      ロボティクス・メカトロニクス講演会'10,講演番号2A2-B18
    • Year and Date
      20100000
  • [Presentation] 仮想マニピュレータによる多関節ロボットの動作制御2010

    • Author(s)
      山崎, 稲葉
    • Organizer
      第15回ロボティクスシンポジア予稿集,pp.391-396
    • Year and Date
      20100000
  • [Presentation] Trajectory Control of Wheeled Mobile Robots Based on Virtual Manipulators2009

    • Author(s)
      Kimitoshi Yamazaki, Masayuki Inaba
    • Organizer
      Proc.of IEEE Int'l Conf.on Intelligent Robots and Systems, pp.2973-2978
    • Year and Date
      20090000
  • [Presentation] 等身大ロボットによる家事支援タスクシーケンスにおける失敗検地回復の構造記述2009

    • Author(s)
      植田, 野沢, 森, 山崎, 岡田, 稲葉
    • Organizer
      ロボティクス・メカトロニクス講演会'09,講演番号1P1D04
    • Year and Date
      20090000
  • [Presentation] End Point Tracking for a Moving Object with Several Attention Regions by Composite Vision System

    • Author(s)
      Kotaro Nagahama, Tomohiro Nishino, Mitsuharu Kojima, Kimitoshi Yamazaki, Kei Okada, Masayuki Inaba
    • Organizer
      Proc.of IEEE Int'l Conf.on Mechatronics and Automation.(to appear)
  • [Book] Chapter : "Autonomous 3D Shape Modeling and Grasp Planning for Handling Unknown Object" in Advances in Robot Manipulators2010

    • Author(s)
      Kimitoshi Yamazaki, Takashi Tsubouchi, Masahiro Tomono
    • Publisher
      IN-TECH

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Published: 2012-02-13   Modified: 2016-04-21  

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