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A Study of Graspless Manipulation

无抓握操纵的研究

基本信息

批准号：
05452169
负责人：
INOUE Hirochika
金额：
$ 4.67万
依托单位：
University of Tokyo
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (B)
财政年份：
1993
资助国家：
日本
起止时间：
1993 至 1994
项目状态：
已结题

项目摘要

In this research, we propose 'graspless manipulation, ' a new concept of robot manipulation. In human manipulation, you don't grasp an object rigidly. You move the object dexterously by pushing, tumbling, and so on. In this manipulation, an environment, like a table or a floor, supports almost all weight of the object. We apply such a dexterous manipulation to robot manipulation.1.Introduction of graspless manipulationFirst, we define a graspless manipulation as a manipulation using a contact with an environment. Then we show that, in the view of the contact status with environment, graspless manipulation is divided to three types, pushing, tumbling, and pivoting. These three graspless manipulation method have various different characteristics. For example, in movement speed, or, moving minute distance, etc. Then, you can combine three types to achieve various manipulation tasks.2.Graspless manipulation referring to human methodThere exists a closed loop link mechanism, 'manipulator--object--environment' in graspless manipulation. To cope with this loop, we don't use a force control method, but propose two position control based method refering to human method. One is a method using free joint to absorb position error. The other is a method using a movable space of a geometric constraint by rigid fingers and environment.3.Graspless manipulation with visual feedbackIn graspless manipulation, manipulator doesn't grasp an oject rigidly. Then the position and posture of the object can't be calculated from that of the manipulator, and the object can't move acorrding to estimation because of uncertainty of friction. We use a hand-eye system to counter these problems. We use visual observation to tracking the object and to recognize a behavior of the object to classify some events. And then we have experiment with this hand-eye system to manipulate an object only by one finger.

在这项研究中，我们提出了“无抓操作，”机器人操作的新概念。在人类的操纵中，你不会僵硬地抓住一个物体。你可以通过推动、翻滚等方式灵巧地移动物体。在这种操作中，一个环境，如桌子或地板，几乎支撑了物体的所有重量。我们将这种灵巧的操作应用到机器人操作中。1.无抓操作的介绍首先，我们将无抓操作定义为使用与环境的接触的操作。然后，我们表明，在与环境的接触状态，无抓操作分为三种类型，推动，翻滚，旋转。这三种手法各有不同的特点。例如，在移动速度，或移动的分钟距离等，然后，你可以联合收割机三种类型来实现各种操作任务。2.无抓操作参考人类的方法无抓操作中存在一个闭环连杆机构，“机械手-物体-环境”。为了科普这个问题，我们没有使用力控制的方法，而是提出了两种基于位置控制的方法。一种是利用自由关节吸收位置误差的方法。另一种是利用刚性手指和环境的几何约束的可动空间的方法。3.视觉反馈的无抓取操作在无抓取操作中，机械手不是刚性地抓取物体。由于摩擦力的不确定性，无法根据机械手的位置和姿态计算出物体的位置和姿态，物体也无法根据估计进行运动。我们使用手眼系统来解决这些问题。我们使用视觉观察来追踪目标，并辨识目标的行为，以分类某些事件。然后我们用这个手眼系统做实验，只用一根手指就能操纵一个物体。