2011 Fiscal Year Final Research Report
Geometry-Based Robotic Manipulation
| Project/Area Number |
22700200
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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 | Yokohama National University |
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Principal Investigator |
MAEDA Yusuke 横浜国立大学, 工学研究院, 准教授 (50313036)
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| Project Period (FY) |
2010 – 2011
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| Keywords | 知能ロボティックス / ケージング / マニピュレーション / 把持 / ロボット / 多指ハンド |
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| Research Abstract |
In this project, we studied geometry-based robotic manipulation, in which robots constrain objects and manipulate them based on not mechanics, but geometry. In order to establish a fundamental theory of geometry-based robotic manipulation, we investigated 3D multifingered caging, caging-based grasping and caging manipulation with the environment ; these are manipulation methodologies that do not require force control or force sensing.
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