| 研究課題/領域番号 |
21K20391
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| 研究種目 |
研究活動スタート支援
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| 配分区分 | 基金 |
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| 審査区分 |
0301:材料力学、生産工学、設計工学、流体工学、熱工学、機械力学、ロボティクス、航空宇宙工学、船舶海洋工学およびその関連分野
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| 研究機関 | 東北大学 |
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研究代表者 |
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| 研究期間 (年度) |
2021-08-30 – 2023-03-31
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| 研究課題ステータス |
中途終了 (2022年度)
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| 配分額 *注記 |
2,990千円 (直接経費: 2,300千円、間接経費: 690千円)
2022年度: 1,430千円 (直接経費: 1,100千円、間接経費: 330千円)
2021年度: 1,560千円 (直接経費: 1,200千円、間接経費: 360千円)
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| キーワード | Geometric mechanics / Differential geometry / Motion planning / Control / Agile fingertip / Dexterous manipulation / Design / Robots / Robotics / Path planning / Agile fingertips |
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| 研究開始時の研究の概要 |
Humans use their fingers to manipulate grasped objects, namely food and clothes, by rotating the touched fingertips. This ability is very important in the stability of grasped objects. With inspiration from this property, we will develop new agile rolling fingertips that can be used in commercially available robotic hands. Also, this research will investigate the theoretical challenges in developing proper motion planning for these agile fingertips using differential geometry. The ultimate goal is to develop controllable and agile fingertips that can grasp and manipulate soft and hard objects.
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| 研究実績の概要 |
The research aim was to study the spin-rolling contacts on different surfaces. We investigate the problem from a mechanism design and motion planning point of view. We were able to develop new Darboux-frame-based kinematics for easing the motion planning problem by transforming an underactuated rolling contact model to a fully-actuated one. Next, we developed a motion planning strategy using the iterative algorithm with geometric functions. Also, the spin-rolling fingertip that resembles the spin-rolling sphere on the generic surface is investigated. Finally, we developed a new driving mechanism for spin-rolling fingertips. We tested different actuation strategies to achieve an agile fingertip for the grasping mechanisms. With the extension of the study to assistive geometric controllers, we were able to publish our findings in different journals and conferences. We are planning to publish our new mechanism in international journals in the near future.
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