2007 Fiscal Year Final Research Report Summary
Control and Information Process for Multi-Fingers Robot to Acquire Dexterous Grasping and Manipulation
| Project/Area Number |
17360106
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Dynamics/Control
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| Research Institution | Nagoya University |
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Principal Investigator |
HAYAKAWA Yoshikazu Nagoya University, Graduate School of Engineering, Professor (60126894)
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| Co-Investigator(Kenkyū-buntansha) |
FUJIMOTO Kenji Nagoya University, Graduate School of Engineering, Associate Professor (10293903)
NAGASE Kenji Wakayama University, School of System Engineering, Associate Professor (70303667)
NAKASHIMA Akira Nagoya University, Graduate School of Eneineering, Assistant Professor (70377836)
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| Project Period (FY) |
2005 – 2007
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| Keywords | Dynamics and Control / Intelligent Robot ics / Machine Learning / Modeling / Measurement |
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| Research Abstract |
The results obtained during this project are as follows.
1) Control for Stable Grasping and Dexterous Manipulation
Dynamical constraints on the mechanical system of multi-fingers robot with object depend on how each finger touches to the object: the contact point is fixed or moving with rolling or slipping. By taking those into consideration and from physical view, we were trying to derive a new feedback control low far the stable picking and dexterous manipulation. And also we developed a dynamical model for the multi-fingers robot to grasp an object with contact condition changing, then a lot of knowledge have been obtained on hybrid control of position and force, adaptive control for under-actuated systems, etc.
2) Leaning Mechanism for Multi-fingers Robot to Acquire Dexterous Skill
It was shown that non-holonomic Hamiltonian systems can be stabilized by dynamic output feedback, and also it was proven by simulations and experiments that the repetitive control is useful even for non-holonomic Hamiltonian systems. Moreover, the conventional repetitive control was modified to work well in the hybrid control of multi-links systems.
3) Estimation Method of Object's Position and Orientation by Sensor Integration
In order to control the multi-fingers robot dexterously, accurate information on position of each contact point between each finger and object is needed; thus we established a sensor integration method of force sensors on each finger's tip and two CCD cameras to estimate each finger's contact information and the object's orientation. Moreover, a relation between strain and force of soft-finger tip is modeled in a certain form of nonlinear function and it was verified by experiment that the model works very well.
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