Intelligent Information Processing for Dexterous Tool Manipulation by Simple End-effector

• Project/Area Number: 23650085
• Research Category: Grant-in-Aid for Challenging Exploratory Research
• Allocation Type: Multi-year Fund
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: Shinshu University (2012); The University of Tokyo (2011)
• Principal Investigator: YAMAZAKI Kimitoshi 信州大学, 工学部, 助教 (00521254)
• Project Period (FY): 2011 – 2012
• Project Status: Completed (Fiscal Year 2012)
• Budget Amount: ¥2,990,000 (Direct Cost: ¥2,300,000、Indirect Cost: ¥690,000); Fiscal Year 2012: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000); Fiscal Year 2011: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
• Keywords: 情報センシング / 物体ハンドリング / 単純構成ハンド / センサ情報処理

Research Abstract

(i) A method of mapping between human grasping and robotic grasping was proposed and proven by means of experiments using dual-arm robots.
(ii) A method of description about overlapping relationships between objects was proposed, and was applied to recognize situations that manipulated several tools and objects simultaneously.

Research Products

• [Journal Article] Attention Region Detection and Tracking for Observing a Person Manipulating Day-to-day Objects (2013)
  • Author(s): Kotaro Nagahama, Tomohiro Nishino, Kimitoshi Yamazaki, Kei Okada and Masayuki Inaba
  • Journal Title: International Journal of Mechatronics and Automation Volume: Vol. 3, No. 1 Pages: 58-67
  • Peer Reviewed
• [Journal Article] "Attention Region Detection and Tracking for Observing a Person Manipulating Day-to-day Objects (2013)
  • Author(s): Kotaro Nagahama
  • Journal Title: International Journal of Mechatronics and Automation Volume: 3 Pages: 58-67
• [Presentation] Manipulation of Multiple Objects in Close Proximity Based on Visual Hierarchical Relationships (2013)
  • Author(s): Kotaro Nagahama, Kimitoshi Yamazaki, Kei Okada and Masayuki Inaba
  • Organizer: in Proceedings of the 2013 IEEE International Conference on Robotics and Automation
  • Place of Presentation: ドイツ
  • Year and Date: 2013-05-06
• [Presentation] Manipulation of Multiple Objects in Close Proximity Based on Visual Hierarchical Relationships (2013)
  • Author(s): Kotaro Nagahama
  • Organizer: IEEE International Conference on Robotics and Automation
  • Place of Presentation: ドイツ
• [Presentation] Hierarchical Estimation of Multiple Objects from Proximity Relationships Arising from Tool Manipulation (2012)
  • Author(s): Kotaro Nagahama, Kimitoshi Yamazaki, Kei Okada and Masayuki Inaba
  • Organizer: in Proceedings of the 2012 IEEE-RAS International Conference on Humanoid Robots
  • Place of Presentation: 大阪
  • Year and Date: 2012-11-30
• [Presentation] 重畳関係と随伴性を用いた作用推定に基づくヒューマノイドの道具操作 (2012)
  • Author(s): 長濱 虎太郎, 西野 友博, 山崎 公俊, 岡田 慧, 稲葉 雅幸
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会
  • Place of Presentation: 静岡
  • Year and Date: 2012-05-28
• [Presentation] 人の道具操作観察における複数領域追跡による重畳・随伴関係推定と操作機能分 類 (2012)
  • Author(s): 長濱 虎太郎, 山崎 公俊, 岡田 慧, 稲葉 雅幸
  • Organizer: 第17回ロボティクスシンポジア
  • Place of Presentation: 山口
  • Year and Date: 2012-03-15
• [Presentation] Hierarchical Estimation of Multiple Objects from Proximity Relationships Arising from Tool Manipulation (2012)
  • Author(s): Kotaro Nagahama
  • Organizer: IEEE-RAS International Conference on Humanoid Robots
  • Place of Presentation: 大阪
• [Presentation] 重畳関係と随伴性を用いた作用推定に基づくヒューマノイドの道具操作 (2012)
  • Author(s): 長濱虎太郎
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会'12 講演論文集
  • Place of Presentation: 浜松
• [Presentation] 人の道具操作観察における複数領域追跡による重畳・随伴関係推定と操作機能分類 (2012)
  • Author(s): 長濱 虎太郎
  • Organizer: 第17回ロボティクスシンポジア予稿集
  • Place of Presentation: 山口
• [Presentation] 人の道具操作観察における機能分類のための重畳・随伴関係推定 (2011)
  • Author(s): 長濱虎太郎, 山崎公俊, 岡田慧, 稲葉雅幸
  • Organizer: 第12回SICEシステムインテグレーション部門講演会
  • Place of Presentation: 京都
  • Year and Date: 2011-12-20
• [Presentation] Grasp Observation and Reproduction by Humanoid Robots Using Color Camera and 3D Sensor (2011)
  • Author(s): Tien Coung Kieu, Kimitoshi Yamazaki, Ryo Hanai, Kei Okada and Masayuki Inaba
  • Organizer: in Proc. of IEEE/SICE Int'l Symposium on System Integration
  • Place of Presentation: 京都
  • Year and Date: 2011-12-15
• [Presentation] End Point Tracking for a Moving Object with Several Attention Regions by Composite Vision System (2011)
  • Author(s): Kotaro Nagahama, Tomohiro Nishino, Mitsuharu Kojima, Kimitoshi Yamazaki, Kei Okada and Masayuki Inaba
  • Organizer: in Proc. of IEEE Int'l Conf. on Mechatronics and Automation
  • Place of Presentation: 中国
  • Year and Date: 2011-08-05
• [Presentation] 生活支援ロボットによる日常物体操作観測のための複数対象の同時追跡と重畳関係推定 (2011)
  • Author(s): 長濱 虎太郎, 西野 友博, 山崎 公俊, 岡田 慧, 稲葉 雅幸
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演
  • Place of Presentation: 岡山
  • Year and Date: 2011-05-27
• [Presentation] Using Range-Color Data to Extract Human Hand Pose and Contact Points for Implementation of Robot Grasp Action (2011)
  • Author(s): Tien Coung Kieu, Kimitoshi Yamazaki, et al
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会
  • Place of Presentation: 岡山
  • Year and Date: 2011-05-27
• [Presentation] End Point Tracking for a Moving Object with Several Attention Regions by Composite Vision System (2011)
  • Author(s): Kotaro Nagahama
  • Organizer: IEEE International Conference on Mechatronics and Automation,
  • Place of Presentation: Beijing, China
• [Presentation] Grasp Observation and Reproduction by Humanoid Robots Using Color Camera and 3D Sensor (2011)
  • Author(s): Kieu Coung Tien
  • Organizer: IEEE/SICE International Symposium on System Integration
  • Place of Presentation: 京都
• [Presentation] 生活支援ロボットによる日常物体操作観測のための複数対象の同時追跡と重畳関係推定 (2011)
  • Author(s): 長濱 虎太郎
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会
  • Place of Presentation: 岡山