Object Recognition by Humanoid Robotic Hand utilizing Homeostasis

• Project/Area Number: 23650098
• Research Category: Grant-in-Aid for Challenging Exploratory Research
• Allocation Type: Multi-year Fund
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: Osaka University
• Principal Investigator: HOSODA Koh 大阪大学, 大学院・情報科学研究科, 教授 (10252610)
• Co-Investigator(Kenkyū-buntansha): IKEMOTO Shuhei 大阪大学, 情報科学研究科, 助教 (00588353)
• Project Period (FY): 2011 – 2012
• Project Status: Completed (Fiscal Year 2012)
• Budget Amount: ¥3,770,000 (Direct Cost: ¥2,900,000、Indirect Cost: ¥870,000); Fiscal Year 2012: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000); Fiscal Year 2011: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
• Keywords: ホメオスタシス / 温度恒常性

Research Abstract

The project has developed a robot hand whose structure is comparable to humans’ and proposed grasping control to avoid slips by learning association between vibration and strain. It has also developed a robot hand with heater, and demonstrated discrimination ability of the manipulating objects. It has proposed a strain estimation method based on stochastic resonance for realizing stable sensing in noisy environment.

Research Products

• [Journal Article] Detection and prevention of slip using sensors with different properties embedded in elastic artificial skin on the basis of previous experience (2014)
  • Author(s): Shirafuji S and Hosoda K
  • Journal Title: Robotics and Autonomous System Volume: 62(1) Issue: 1 Pages: 46-52
  • DOI: 10.1016/j.robot.2012.07.016
  • Peer Reviewed
• [Journal Article] Detection and prevention of slip using sensors with different properties embedded in elastic artificial skin on the basis of previous experience
  • Author(s): Shouhei Shirafuji and Koh Hosoda
  • Journal Title: Robotics and Autonomous Systems Volume: (in press)
• [Presentation] Redundant sensor system for stochastic resonance tuning without input signal knowledge (2012)
  • Author(s): Nagisa Koyama, Shuhei Ikemoto, and Koh Hosoda
  • Organizer: IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS 2012)
  • Place of Presentation: Faro, Portuga
  • Year and Date: 2012-10-01
• [Presentation] Design of An Anthropomorphic Tendon-Driven Robotic Finger (2012)
  • Author(s): Shouhei Shirafuji, Shuhei Ikemoto, and Koh Hosoda
  • Organizer: 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012)
  • Place of Presentation: Guangzhou, China
• [Presentation] 確率共鳴の自動調整を可能とする冗長センサシステム (2012)
  • Author(s): 小山渚,池本周平,細田耕
  • 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: 浜松市
• [Presentation] Redundant sensor system for stochastic resonance tuning without input signal knowledge (2012)
  • Author(s): Nagisa Koyama, Shuhei Ikemoto, and Koh Hosoda
  • Organizer: IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Faro, Portugal
• [Presentation] Design of An Anthropomorphic Tendon-Driven Robotic Finger (2012)
  • Author(s): Shouhei Shirafuji, Shuhei Ikemoto, and Koh Hosoda
  • Organizer: 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012)
  • Place of Presentation: 広州，中国
• [Presentation] ヒト規範触覚センサの開発に向けた確率共鳴強度の最適化 (2011)
  • Author(s): 小山渚,池本周平,細田耕
  • Organizer: 第29回ロボット学会学術講演会
  • Place of Presentation: 芝浦工大,東京
• [Presentation] Detection and Prevention of Slip Using Sensors with Different Properties Embedded in Elastic Artificial Skin on the Basis of Previous Experience (2011)
  • Author(s): Shouhei Shirafuji and Koh Hosoda
  • Organizer: International Conference on Advanced Robotics
  • Place of Presentation: Tallin, Estonia
• [Presentation] Detection and Prevention of Slip Using Sensors with Different Properties Embedded in Elastic Artificial Skin on the Basis of Previous Experience (2011)
  • Author(s): Shouhei Shirafuji and Koh Hosoda
  • Organizer: The 15th International Conference on Advanced Robotics
  • Place of Presentation: タリン，エストニア
• [Presentation] Tactile Sensitivity Modulation of Elastic Skin by Change of Grasping Force (2011)
  • Author(s): Shouhei Shirafuji, Shuhei Ikemoto, and Koh Hosoda
  • Organizer: International Symposium on Adaptive Motion in Animals and Machines
  • Place of Presentation: 淡路夢舞台，兵庫県
• [Presentation] ヒト規範触覚センサの開発に向けた確率共鳴強度の最適化 (2011)
  • Author(s): 小山渚，池本周平，細田耕
  • Organizer: 第29回ロボット学会学術講演会
  • Place of Presentation: 芝浦工大，東京
• [Presentation] Tactile Sensitivity Modulation of Elastic Skin by Change of Grasping Force (2010)
  • Author(s): Shouhei Shirafuji, Shuhei Ikemoto, and Koh Hosoda
  • Organizer: International Symposium on Adaptive Motion in Animals and Machines
  • Place of Presentation: Awaji, Hyogo
• [Remarks]
  • URL: http://www-hi.ist.osaka-u.ac.jp