2023 Fiscal Year Annual Research Report
Safe robotic motion through multi-reference adaptive constrained control
| Project/Area Number |
23K13287
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| Research Institution | The University of Tokyo |
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Principal Investigator |
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| Project Period (FY) |
2023-04-01 – 2024-03-31
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| Keywords | adaptive control |
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| Outline of Annual Research Achievements |
In this research, the interest is to investigate the online adjustment of the robot model using many external sensor setups, to provide safer and more precise robot operation. To do so, an external rig with additional sensors must be deployed around the robot to enable such research and its evaluation.
The research was implemented for three months before the lead academic moved to another institution. In that period, a rig composed of several cameras was prepared along with a setup using an existing robotic manipulator. We expect that this initial setup can be used to progress on the directions delineated on the research plan.
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