| Budget Amount *help |
¥21,320,000 (Direct Cost: ¥16,400,000、Indirect Cost: ¥4,920,000)
Fiscal Year 2011: ¥6,890,000 (Direct Cost: ¥5,300,000、Indirect Cost: ¥1,590,000)
Fiscal Year 2010: ¥7,280,000 (Direct Cost: ¥5,600,000、Indirect Cost: ¥1,680,000)
Fiscal Year 2009: ¥7,150,000 (Direct Cost: ¥5,500,000、Indirect Cost: ¥1,650,000)
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| Research Abstract |
The objective of this research is to understand recognition-manipulation methodology that is able to handle not only simple-rigid object such as a cup, but also complex and deformable towels and clothes through an innovation in both hardware and software aspects including multi-fingered hand, high-resolution stereo vision, deformable object modeling, share recognition, manipulation planning and motion control. In addition to the research results which are listed on the original research plan, including deformable object simulation, perception algorithm using color-depth image sensor, manipulation action control on towel grasp task, we have investigated new type of intelligence mechanism that the robot learns from experiments with action description and control mechanism for failure detection and recovery. Finally, influence of this research is so great that there are several researchers who started cloth manipulation research inspired by this subject.
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