成果報告書詳細
管理番号20160000000574
タイトル*平成27年度中間年報 次世代ロボット中核技術開発 (次世代人工知能技術分野)道具の操りと身体性の相互作用 柔軟ロボットによる身体環境相互作用に基づく道具使用
公開日2016/7/22
報告書年度2015 - 2015
委託先名国立大学法人東京大学
プロジェクト番号P15009
部署名ロボット・AI部
和文要約
英文要約Title: Core Technology Development for Next Generation Robots, (Technological Field of Next Generation Artificial Intelligence) Interaction between Tool Use and Embodiment, Tool Use by Flexible Robots based on Interaction between Body and Environment (FY2015-FY2016) FY2015 Annual Report

The purpose of this research is to establish the method for flexible robots to use unknown tools quickly. To do this, we focus on the motion which is generated by the interaction between tools and robots. Target tasks are the retrieval of objects by flexible tools and the locomotion by using a bar which was thrust to the ground. In this financial year, we prepared the setup for the examination of the relationship between the features of tools and the characteristics of motion which generated by the interaction between tools and robots. First, we constructed simulation setup in a dynamic simulator: Open Dynamics Engine (ODE). We constructed a robot arm model with planar three degrees of freedom and a flexible bar modeled by multiple joints with viscoelasticity. The bar model can represent various bars by changing the mass, the center of mass, the inertia, the shape of each link or the viscoelasticity of joints. This robot model has the same configuration with the real robot described below. This similarity will help us to use the simulation and the real robot in a complementary style. Second, we developed a musculoskeletal robot arm with three joints and ten muscles including biarticular muscles. This robot has a gripper for grasping tools. We used McKibben-type pneumatic artificial muscles as elastic actuators. We are also developing an exoskeleton to interact with the robot intuitively. This exoskeleton will help the robot to generate motions for using tools. Third, because the locomotion with a bar needs high physical performance, we developed a new actuator which is based on an air cylinder with higher stroke than a McKibben-type pneumatic artificial muscle. We developed a robot leg with the actuators with parameters which were selected by the examination in simulation with air flow model. We used YARP as the middleware of this robot. It makes us easy to use the various libraries and enable to use the Gazebo as a simulation platform.
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