2010 Fiscal Year Final Research Report
A Study of Error Recovery System for a Mobile Dual-Arm Robot Working in Daily Environments
| Project/Area Number |
21700218
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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 |
Perception information processing/Intelligent robotics
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| Research Institution | The University of Tokyo |
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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)
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| Project Period (FY) |
2009 – 2010
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| Keywords | 知能ロボット |
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| 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.
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