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Basic research on detection of task errors in robotic manipulation

Research Project

Project/Area Number 08650495
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field 計測・制御工学
Research InstitutionKYUSHU UNIVERSITY

Principal Investigator

HASEGAWA Tsutomu  Kyushu University, Graduate School of Information Science snd Electrical Engineering Professor, 大学院・システム情報科学研究科, 教授 (00243890)

Co-Investigator(Kenkyū-buntansha) KIRIKI Toshihro  Kyushu University, Faculty of Engineering, Research Associate, 工学部, 助手 (60264074)
Project Period (FY) 1996 – 1997
Project Status Completed (Fiscal Year 1997)
Budget Amount *help
¥2,000,000 (Direct Cost: ¥2,000,000)
Fiscal Year 1997: ¥500,000 (Direct Cost: ¥500,000)
Fiscal Year 1996: ¥1,500,000 (Direct Cost: ¥1,500,000)
Keywordsrobot / manipulation / error detection / multi-fingered hand
Research Abstract

A dexterous manipulation system has been developed as a test bed for detecting errors of task : the system is conposed of a multi-fingered hand equipped with force/torque sensors on each fingertips, a 3-D realtime stereo vision to measure the pose of a manipuiated object, and a realtime figer controller.
Following functions have been developed :
(1).The grasped object is manipulated through rolling contacts between fingertips and the surface of the object enabling fine and control with 10ms of servo cycle time.
(2).The 3-D stereo vision measures the pose the pose of the grasped object in every 33ms.
(3).A method of separating internal forces and external forces from the force/torque sensorsigna1s has been developed. The former is necessary for the stable grasp and the latter is required for desired manipulation of the object.
Detection of task errors requires online reasoning of how the task is being executd. This reasoning is made by combining the higher level synbolic meaning of the task and the lower level motion of fingers and the manipulated object. To enable the reasoning, motion primitives of the multi-fingered hand for mechanical assembly have been developed. Peg-insertion, screw-insertion, and screw-rotation have been successfully implenented as motion primitives.
In the mechanical assenbly experinents by multi-fingered hand, a slip is very often caused at the contact of the fingertip and the manipulated object mainly because of an unpredictab1e friction force in the assenbly. This slip leads to an error of the task. For the error detection and recovery, a task monitoring system has been developed using the real time 3-D vision. This is implemented as a parallel process with the task execution control process. Detection of errors in the pose of the manipulated object in a minimum time delay without losing fine and dexterous manipu1ation capability.

Report

(3 results)
  • 1997 Annual Research Report   Final Research Report Summary
  • 1996 Annual Research Report
  • Research Products

    (6 results)

All Other

All Publications (6 results)

  • [Publications] 長谷川 勉: "マニピュレーションの知能" 日本機械学会論文集. 62. 3740-3745 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Nobuhiro Okada: "Reliable Parts-picking system with an active and multi-sensor visual system" ROBOTICA. 15. 693-700 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Tsutomu Hasegawa: "Intelligence for Robotic Manipulation" Transactions of The Japan Society of Mechanical Engineers. Vol.62, No.602. 3740-3745 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Nobuhiro Okada, Tadashi Nagata, snd Tsutomu Hasegawa: "A reliable parts-picking system with an active and multi-sensor visual system" ROBOTICA. Vol.15. 693-700 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1997 Final Research Report Summary
  • [Publications] Nobuhiro Okada: "A Reliable Parts-picking System with An Active and Multi-sensor Visual System" ROBOTICA. 15. 693-700 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] 長谷川勉: "マニピュレーションの知能" 日本機械学会論文集. 62巻. 3740-3745 (1996)

    • Related Report
      1996 Annual Research Report

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Published: 1996-04-01   Modified: 2016-04-21  

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