| Project/Area Number |
08650495
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
計測・制御工学
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| Research Institution | KYUSHU UNIVERSITY |
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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)
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| Co-Investigator(Kenkyū-buntansha) |
KIRIKI Toshihro Kyushu University, Faculty of Engineering, Research Associate, 工学部, 助手 (60264074)
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| Project Period (FY) |
1996 – 1997
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| Project Status |
Completed (Fiscal Year 1997)
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| 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)
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| Keywords | robot / manipulation / error detection / multi-fingered hand |
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| 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.
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