Teaching method for object manipulation using intermediate grasp representation and autonomous visual tactile feedback

2015 Fiscal Year Final Research Report

• Project/Area Number: 25330306
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Intelligent robotics
• Research Institution: Wakayama University
• Principal Investigator: OGAWARA Koichi 和歌山大学, システム工学部, 准教授 (70452810)
• Project Period (FY): 2013-04-01 – 2016-03-31
• Keywords: 遠隔操作 / 作業教示 / 手形状認識

Outline of Final Research Achievements

To teach dexterous object manipulation to a robot, a method for hand shape recognition by visually observing object manipulation demonstrated by a human operator has been developed. A method for generating the motion of a multi-finger hand based on the sequence of recognized hand shapes has been also developed where the desired trajectgory of a manipulated object is realized. Furthermore, an interface has been developed to show the planned motion of a robot to a human operator so that the humnan operator can safely reject the generated motions.

Free Research Field

ロボティクス