| 研究課題/領域番号 |
23K13287
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| 研究種目 |
若手研究
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| 配分区分 | 基金 |
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| 審査区分 |
小区分20020:ロボティクスおよび知能機械システム関連
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| 研究機関 | 東京大学 |
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研究代表者 |
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| 研究期間 (年度) |
2023-04-01 – 2024-03-31
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| 研究課題ステータス |
完了 (2023年度)
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| 配分額 *注記 |
4,680千円 (直接経費: 3,600千円、間接経費: 1,080千円)
2025年度: 1,170千円 (直接経費: 900千円、間接経費: 270千円)
2024年度: 780千円 (直接経費: 600千円、間接経費: 180千円)
2023年度: 2,730千円 (直接経費: 2,100千円、間接経費: 630千円)
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| キーワード | adaptive control / 適応制御 / センサ融合 / ロボティクス / 画像処理 |
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| 研究開始時の研究の概要 |
- Implement realistic-looking computer simulation for the surgical robotic setup.
- Train AI algorithms to learn from those images and generalize that intelligence into real images.
- Use that information to track points of the robot from images.
- Combine all those points in an adaptive controller to increase robot accuracy.
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| 研究実績の概要 |
In this research, the interest is to investigate the online adjustment of the robot model using many external sensor setups, to provide safer and more precise robot operation. To do so, an external rig with additional sensors must be deployed around the robot to enable such research and its evaluation.
The research was implemented for three months before the lead academic moved to another institution. In that period, a rig composed of several cameras was prepared along with a setup using an existing robotic manipulator. We expect that this initial setup can be used to progress on the directions delineated on the research plan.
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