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Functioning of Intelligence and Dexterity in Multi-Fingered Hands by Sensory-Motor Coordination

Research Project

Project/Area Number 15360141
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionRitsumeikan University

Principal Investigator

ARIMOTO Suguru  Ritsumeikan University, Faculty of Science and Engineering, Professor, 理工学部, 教授 (00029399)

Co-Investigator(Kenkyū-buntansha) KAWAMURA Sadao  Ritsumeikan University, Faculty of Science and Engineering, Professor, 理工学部, 教授 (20186141)
OZAWA Ryuta  Ritsumeikan University, Faculty of Science and Engineering, Lecturer, 理工学部, 講師 (40368006)
Project Period (FY) 2003 – 2004
Project Status Completed (Fiscal Year 2004)
Budget Amount *help
¥9,800,000 (Direct Cost: ¥9,800,000)
Fiscal Year 2004: ¥4,300,000 (Direct Cost: ¥4,300,000)
Fiscal Year 2003: ¥5,500,000 (Direct Cost: ¥5,500,000)
Keywordssensory feedbadk / multi-fingered hand / intelligent control / stable grasping / obiect manipulation / stable on a manifold / system with redundant DOFs / 3-D object manipulation / ピンチング作業 / 冗長関節系 / 巧みさ指数 / 知的制御 / ピンチング動作
Research Abstract

Pinching based on the finger-thumb opposition was first modeled in an explicity way by taking into account rolling contact constraints. Under this research project, stability of pinching motions in a dynamic sense is analyzed under the assumption that finger-ends are of hemispherical shape but rigid. The most noteworthy outcomes under this project must be summarized in the followings : 1) "Blind grasping" can function even in the case of a pair of robot fingers likely as human grasp on object even if they close eyes and 2) "Dexterity Analysis" can be done through introducing "dexterity index" and aiming at role-sharing among different joints of thumb and index finger.
The final goal of the project is to realize 3-Dimensional stable grasping by means of two or more fingers with multiple joints moving in 3-Dimensional space. Regardless of the non-holonomic constraint of rolling contacts in 3-D space, a whole fingers-object system model with non-holonomic constraints could be derived in a rigorous way. Then, it is shown theoretically that there exists a signal of fingers-thumb opposition force that realizes the stable pinching in a dynamic sense, provided that the object has two parallel flat surfaces.
Design of a 3-Dimensional finger with 3 DOFs has been finished and all necessary mechanical parts are made or collected now. Only it remains to carry out the experiment of 3-D stable grasping by using this pair of 3-D robot fingers.

Report

(3 results)
  • 2004 Annual Research Report   Final Research Report Summary
  • 2003 Annual Research Report
  • Research Products

    (35 results)

All 2005 2004 Other

All Journal Article (28 results) Book (1 results) Publications (6 results)

  • [Journal Article] Dexterity and versatility in pinching motion of robot fingers with multi-degrees of freedom2005

    • Author(s)
      J.-H.Bae, S.Arimoto, M.Sekimoto, R.Ozawa
    • Journal Title

      Advanced Robotics 19

      Pages: 401-434

    • NAID

      10017984814

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Two-dimensional stable blind grasping under the gravity effect2005

    • Author(s)
      S.Arimoto, R.Ozawa, M.Yoshida
    • Journal Title

      Proc.of the 2005 IEEE Int.Conf.on Robotics and Automation

      Pages: 1208-1214

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Enhancement of dexterity in robotic grasping referring to characteristics of human grasping2005

    • Author(s)
      J.-H.Bae, S.Arimoto, R.Ozawa, M.Sekimoto
    • Journal Title

      Proc.of the 2005 IEEE Int.Conf.on Robotics and Automation

      Pages: 1215-1221

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Control of an object with parallel surfaces by a pair of finger robots without object sensing2005

    • Author(s)
      R.Ozawa, S.Arimoto, S.Nakamura, J.-H.Bae
    • Journal Title

      IEEE Trans.on Robotics

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Dexterity and versatility in pinching motion of robot fingers with multi-degrees of freedom2005

    • Author(s)
      J.-H.Bae, S.Arimoto, M.Sekimoto, R.Ozawa
    • Journal Title

      Advanced Robotics Vol.19, No.4

      Pages: 401-434

    • NAID

      10017984814

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Two-dimensional stable blind grasping under the gravity effect2005

    • Author(s)
      S.Arimoto, R.Ozawa, M.Yoshida
    • Journal Title

      Proc. of the 2005 IEEE Int. Conf. on Robotics and Automation

      Pages: 1208-214

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Enhancement of dexterity in robotic grasping referring to characteristics of human grasping2005

    • Author(s)
      J.-H.Bae, S.Arimoto, R.Ozawa, M.Sekimoto
    • Journal Title

      Proc. of the 2005 IEEE Int. Conf. on Robotics and Automation

      Pages: 1215-1221

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Control of an object with parallel surfaces by a pair of finger robots without object sensing2005

    • Author(s)
      R.Ozawa, S.Arimoto, S.Nakamura, J.-H.Bae
    • Journal Title

      IEEE Trans. on Robotics

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Dexterity and versatility in pinching motion of robot fingers with multi- degrees of freedom2005

    • Author(s)
      J.-H.Bae, S.Arimoto, M.Sekimoto, R.Ozawa
    • Journal Title

      Advanced Robotics

    • NAID

      10017984814

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Control of an object with parallel surfaces by a pair of finger robots without object sensing2005

    • Author(s)
      R.Ozawa, S.Arimoto, J.-H.Bae
    • Journal Title

      IEEE Trans.on Robotics

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Feasibility study of pinching of a rigid object with non-parallel flat surfaces2004

    • Author(s)
      M.Yoshida, S.Arimoto, R.Ozawa
    • Journal Title

      Proc.of 2004 IEEE/RSJ Int.Conf.on Intelligent Robots and Systems

      Pages: 3680-3685

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Annual Research Report 2004 Final Research Report Summary
  • [Journal Article] Important role of force/velocity characteristics in sensory-motor coordination for control design of object manipulation by a multi-fingered robot hand2004

    • Author(s)
      J.-H.Bae, S.Arimoto
    • Journal Title

      Robotica 22

      Pages: 479-491

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Annual Research Report 2004 Final Research Report Summary
  • [Journal Article] Dexterity analysis of human and robotic grasping motions from the viewpoint of dynamics2004

    • Author(s)
      J.-H.Bae, S.Arimoto, M.Sekimoto, R.Ozawa
    • Journal Title

      IEEE Int.Conf.on Robotics and Biomimetics

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Manipulation of a circular object in a horizontal plane by two finger robots2004

    • Author(s)
      R.Ozawa, S.Arimoto, P.T.A.Nguyen, M.Yoshida, J.-H.Bae
    • Journal Title

      IEEE Int.Conf.on Robotics and Biomimetics

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] What are the fundamentals of bio-mimetic control?2004

    • Author(s)
      S.Arimoto
    • Journal Title

      IEEE Int.Conf.on Robotics and Biomimetics

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Natural resolution of ill-posedness of inverse kinematics for redundant robots under constraints2004

    • Author(s)
      S.Arimoto, J.-H.Bae, H.Hashiguchi, R.Ozawa
    • Journal Title

      Communications in Information and Systems 4

      Pages: 1-28

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Intelligent control of multi-fingered hands2004

    • Author(s)
      S.Arimoto
    • Journal Title

      Annual Review in Control 28

      Pages: 75-85

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Why does surplus DOF of robot fingers enhance dexterity of object manipulation*? : Analysis and simulation of overall fingers-object dynamics2004

    • Author(s)
      S.Arimoto, J.-H.Bae, H.Hashiguchi, R.Ozawa
    • Journal Title

      Proc.of the 2004 IEEE Int.Conf.on Robotics and Automation

      Pages: 2936-2943

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Feasibility study of pinching of a rigid object with non-parallel flat surfaces2004

    • Author(s)
      M.Yoshida, S.Arimoto, R.Ozawa
    • Journal Title

      Proc. of 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems

      Pages: 3680-3685

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Important role of force/velocity characteristics in sensory-motor coordination for control design of object manipulation by a multi-fingered robot hand2004

    • Author(s)
      J.-H.Bae, S.Arimoto
    • Journal Title

      Robotica Vol.22

      Pages: 479-491

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Dexterity analysis of human and robotic grasping motions from the viewpoint of dynamics2004

    • Author(s)
      J.-H.Bae, S.Arimoto, M.Sekimoto, R.Ozawa
    • Journal Title

      IEEE Int. Conf. on Robotics and Biomimetics

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Manipulation of a circular object in a horizontal plane by two finger robots2004

    • Author(s)
      R.Ozawa, S.Arimoto, P.T.A.Nguyen, M.Yoshida, J.-H.Bae
    • Journal Title

      IEEE Int. Conf. on Robotics and Biomimetics

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] What are the fundamentals of bio-mimetic control?2004

    • Author(s)
      S.Arimoto
    • Journal Title

      IEEE Int. Conf. on Robotics and Biomimetics

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Natural resolution of ill-posedness of inverse kinematics for redundant robots under constraints2004

    • Author(s)
      S.Arimoto, J.-H.Bae, H.Hashiguchi, R.Ozawa
    • Journal Title

      Communications in Information and systems Vol.4

      Pages: 1-28

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Intelligent control of multi-fingered hands2004

    • Author(s)
      S.Arimoto
    • Journal Title

      Annual Review in Control Vol.28

      Pages: 75-85

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Why does surplus DOF of robot fingers enhance dexterity of object manipulation^*? : Analysis and simulation of overall fingers-object dynamics2004

    • Author(s)
      S.Arimoto, J.-H.Bae, H.Hashiguchi, R.Ozawa
    • Journal Title

      Proc. of the 2004 IEEE Int. Conf. on Robotics and Automation

      Pages: 2936-2943

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Natural resolution of ill-posedness of inverse kinematics for redundant robots under constraints2004

    • Author(s)
      S.Arimoto, J.-H.Bae, H.Hashiguchi, R.Ozawa
    • Journal Title

      Communications in Information and Systems 4・1

      Pages: 1-28

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Intelligent control of multi-fingered hands2004

    • Author(s)
      S.Arimoto
    • Journal Title

      Annual Review in Control 28・1

      Pages: 75-85

    • Related Report
      2004 Annual Research Report
  • [Book] 数学は工学の期待に応えられるのか2004

    • Author(s)
      有本 卓
    • Total Pages
      235
    • Publisher
      岩波書店
    • Related Report
      2004 Annual Research Report
  • [Publications] S.Arimoto, K.Tahara, J.-H.Bae, M.Yoshida: "A stability theory on a manifold : concurrent realization of grasp and orientation control of an object by a pair of robot fingeres"Robotica. 21・2. 163-178 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] S.Nakamura, K.Tahara, J.-H.Bae, M.Sekimoto, S.Arimoto: "Experiments of grasping and object-manipulation by a pair of multi-degrees of freedom robot fingers"Proc.of the 2003 IEEE Int.Symp.on Computational Intelligence in Robotics and Automation. 1162-1167 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] J.-H.Bae, K.Tahara, S.Nakamura, S.Arimoto: "Computer simulation of grasping and object-manipulation by a pair of multi-degrees of freedom robot fingers"Proc.of the 2003 IEEE Int.Symp.on Computational Intelligence in Robotics and Automation. 1219-1226 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] S.Arimoto: "Intelligent control of multi-fingered hands"Preprints of the 7th IFAC Symp.on Robot Control. 3-12 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] S.Arimoto, J.-H.Bae, K.Tahara: "Stability on a manifold : simultaneous realization of grasp and orientation control of an object by a pair of robot fingers"Proc.of the 2003 IEEE Int.Conf.on Robotics and Automation. 14-19 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] S.Arimoto, M.Yoshida, J.-H.Bae, K.Tahara: "Dynamic force/torque balance of 2D polygonal objects by a pair of rolling contacts and sensory-motor doordination"Journal of Robotic Systems. 20・9. 517-537 (2003)

    • Related Report
      2003 Annual Research Report

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Published: 2003-04-01   Modified: 2016-04-21  

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