2013 Fiscal Year Final Research Report
Constructive Approach Study of Hand Dexterity based on the Teaching Data Demonstrated by a Human
| Project/Area Number |
23300075
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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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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Kobe University |
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Principal Investigator |
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| Project Period (FY) |
2011-04-01 – 2014-03-31
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| Keywords | マニピュレーション / 作業スキル / 作業教示 / ロボットハンド / 柔軟物操作 |
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| Research Abstract |
This research aimed at essential understanding of human hand dexterity through constructive approach study. "Origami-folding" was chosen as a target task and a robotic hand, which has a certain level of versatility so that it can fold several origami works, was designed and developed. We could successfully construct a robot system that can fold origami works not only "Tadpole" but also "Frog" which is much more complicate than "Tadpole". The way of transferring implicit task skill of humans from direct/remote teaching data was generalized and it was confirmed that the developed robot with novel mechanisms has high enough easiness of teaching and a precise enough playback performance of the teaching motions.
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