成果報告書詳細
管理番号20160000000581
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 (革新的ロボット要素技術分野)次世代マニピュレーション 把持機能と認識機能の統合による高度なマニピュレーションの実現
公開日2016/7/27
報告書年度2015 - 2015
委託先名国立大学法人神戸大学
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1. Survey of elemental technologies and system integration technologies for creating the next-generation manipulation technology In order to proceed survey research on the elemental technologies such as sensing, actuation, and energy source, as well as the system integration technologies for creating the next-generation manipulation technology, we have established a system for survey research by using a WEB-based literature database management tool 'Mendeley'. We have already registered 43 articles on our database.We have already started to investigate two commercially available multi-functional robotic hands and a new robotic hand has been procured by the budget of this project. Besides the literature survey and the investigation of commercially available multi-functional robotic hands, we are also planning to visit companies that show interest in the next-generation manipulation technology in order to exchange views and investigate their needs.2. Investigation of standard manipulation task (challenging task) for creating the next-generation manipulation technology (1) Selection of the items for picking task and clarification of the functions required for the robotic hand to realize the picking task Upon establishing the standard manipulation task, it is necessary to select a variety of target object in terms of size, weight and hardness. In Kobe University, we started with selecting 20 items available in supermarkets and convenience stores, and conducted picking experiments with D-hand (DOUBLE Research and Development Co.,LTD). Since picking is the primary operation in the standard manipulation task, we clarified the functions required for the multi-purpose picking hand by investigating the items and the cause of failure.(2) Prototyping and evaluation of a soft-fingered robotic hand Aiming at realizing the "preliminary assessment task", a simplified version of the standard manipulation task, the research group of Kanazawa University has developed a robotic hand that can grasp all the target items we selected. The developed hand has a soft fingertip made by a stretchable bag filled with viscoelastic fluid. This soft fingertip has the following characteristics:*Uniform contact pressure distribution *It can estimate the contact pressure from the pressure of the liquid inside the bag and can grasp even fragile objects, such as tofu, by controlling the contact pressure *It can mitigate the impact of contact In the previous development, we found that the soft fingertip is suitable for grasping fragile objects or objects with complex uneven shape but it has a drawback that it cannot grasp a heavy object. Therefore, we have developed a new type of robotic fingers where a micro-gripper is embedded inside the bag so that it closes automatically when the force is applied.We have conducted several experiments and confirmed that the new robotic hand can grasp not only frangible objects but also heavy ones. Therefore we expect that it would be effective for the standard manipulation task.3. Survey of artificial intelligence technologies that can sophisticate the manipulation technology In Shinshu University, survey of artificial intelligence technologies related to manipulation technology was carried out, mainly focusing on the literatures on learning of object grasping. For example, groups of Stanford University and Cornell University proposed techniques that can detect the correct grasp position from the various object shapes by utilizing the statistical machine learning and neural networks. Followed by the above survey research, we studied a method for effective object grasping by an articulated manipulator. The proposed method can move the arm to the grasping position without spending much time for motion planning once the object recognition process detects the grasping position of the target object.
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