成果報告書詳細
管理番号20110000001183
タイトル*平成22年度中間年報 次世代ロボット知能化技術開発プロジェクト 作業知能(社会・生活分野)の開発 作業知能(社会・生活分野)の研究開発(2)
公開日2011/10/12
報告書年度2010 - 2010
委託先名株式会社東芝 公立大学法人首都大学東京 国立大学法人東京大学 国立大学法人東北大学
プロジェクト番号P08013
部署名機械システム部
和文要約和文要約等以下本編抜粋:1. 研究開発の内容及び成果等
[東芝]
(1)
作業計画知能モジュール群の開発
【1】作業計画に関する知能モジュール群
作業計画に関する知能モジュール群に関しては、実時間プランニングモジュールへのアクセス部、知識・状況管理モジュールへのアクセス部、分散知識DBフレームワークを開発した。また、実時間プランニングモジュールと知識・状況管理モジュールに関しては、OpenRTM1.0版のRTC群を作成し、その際に修正したRTM0.4.2版のRTC群と共に、RTC再利用技術研究センターに登録した。さらに、23年度の目標を前倒し実施し、実時間プランニングモジュールおよび知識・状況管理モジュールを九州工業大学のSDL経由で他機関モジュール群とOpenRTM1.0で接続し、(株)安川電機の検証用ロボット(Smart Pal)を用いて、「手前の障害物を退避して奥の物を取る」作業と、「左右の手を適切に使い分けて、障害物に手を触れないように物を取る・置く」作業を、計画し、実行できることを実証した。
英文要約Title: Intelligent RT Software Project; Developments of Task Intelligence in Society and Life field Research and development of Task Intelligence in Society and Life field (FY2008-FY2011) FY2010 Annual Report
[Toshiba Corporation] We implemented interfaces (OpenRTM1.0) for planning modules installed them on the robot (Smart Pal of Yasukawa Corporation), and connected them to other modules via SDL (Kyusyu Institute of Technology). We successfully demonstrated that the robot can make and execute plans for picking and placing objects without collisions by using one of the two hands appropriately and removing obstacles when necessary. Monocular position and orientation detection module and relative position control module have been developed in accordance with RTM1.0. Objects labeled polygon marker could be detected and picked up by robot system equipped these modules. We verified that the modules worked well through the experiment that the robot puts a plastic bottle away. [Tokyo Metropolitan University] The multi-modal interaction module could recognize operating instructions such as a pause, a change and a stop based on the gesture recognition and voice recognition. The service definition and execution module could sort out procedures priorities in removing dishes based on operating instructions, could generate the service definition instance, and could perform pauses, stops and changes of the operation. Kukanchi composition module could offer the attributes of objects to other modules. We improve the modules so that the functions are used generally. We experimented in order to demonstrate the effectiveness of multi-modal interaction module and multi-modal interaction module. The demonstration was conducted in simulated environments built by Yaskawa Electric Corporation. [The University of Tokyo] In FY2010, RTC prototypes of the data interpretation module and the safety-information provider module have been developed. The former one registers location information in Town Management System, which is developed by Kyushu Univ., and provides other modules with location information with appropriate coordinate transformations. The latter one provides a robot with its upper limit of motion based on the location of persons and robots. Both modules have been implemented tailored to the OpenRTM-aist 1.0 specification. The modules were confirmed to connect to other modules developed by other groups. The usefulness of the modules has been demonstrated through the experiments using SmartPal, which was developed by Yaskawa Electric Corporation. [Tohoku University] Cooperating with Yasukawa Electric Corp., we developed a general-purpose RT component to control humanoid robots that have 7-DOF dual arm, waist DOF, mobile mechanism such as biped legs and wheels. In order to deal with multi-platform, a standard humanoid robot model is introduced. Joint names of each robot platform are mapped to the standard humanoid robot model. Referring the target robot model, standard humanoid robot model and mapping table, the developed general-purpose RT component generates a desired robot motion for the target robot platform. The developed module is verified by using the dynamics simulator OpenHRP3. In order for a robot to accurately grasp an object by hand, visual servo module using a hand camera is developed. The developed module is verified by experiments with a humanoid robot.
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