2023 Fiscal Year Final Research Report
Efficiency and Practical Application of Underwater Robot Operation Using Shared Haptic Control
| Project/Area Number |
21H01294
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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 20020:Robotics and intelligent system-related
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| Research Institution | Ryukoku University (2023)
Tokai University (2021-2022) |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
小金澤 鋼一 東海大学, スポーツ医科学研究所, 研究員 (10178246)
和田 隆広 奈良先端科学技術大学院大学, 先端科学技術研究科, 教授 (30322564)
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| Project Period (FY) |
2021-04-01 – 2024-03-31
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| Keywords | Underwater Robot / Haptic Shared Control / ROV / 水中作業 / 多関節グリッパ / 物体把持 |
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| Outline of Final Research Achievements |
In this study, we applied Haptic Shared Control (HSC), where a human operator and an automated system collaboratively control a machine and robot, and a multi-joint gripper with variable stiffness functionality to an underwater robot. Our goal was to reduce the operator's burden, improve the efficiency, and enhance the automation of close-range and contact tasks underwater. Firstly, we developed a control device that realizes the control of the underwater robot and provides haptic feedback to the operator, validating the effectiveness of HSC. Additionally, we developed a highly usable gripper mechanism with variable stiffness functionality to assist in approaching and grasping underwater objects. Furthermore, we obtained fundamental data on methods to prevent cable entanglement, which is useful during underwater robot operations, and on operator motion sickness.
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| Free Research Field |
水中ロボット工学
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| Academic Significance and Societal Importance of the Research Achievements |
環境に接近・接触する水中作業の多くは，現在でもダイバーや熟練者が操縦する水中ロボットに大きく依存している．本研究の成果として，人間による介入が必要な水中作業にHSCを適用することで，操縦者の負担を軽減できることが確認された．この成果は，港湾管理や老朽化が進むインフラ点検など，水中ロボットの利用が増えている中で，社会的に役立つ可能性がある．また，水中ロボットの作業においては三次元運動制御や流体外乱補償等の困難が伴うが，今回開発した技術は水中ロボットの自動化による作業の可能性を広げることに貢献するという点で学術的な意義がある．
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