Physical Understanding of Dexterity

对敏捷性的物理理解

• 批准号: 07245103
• 负责人: ARIMOTO Suguru
• 金额: $ 53.95万
• 依托单位: Ritsumeikan University (1997)The University of Tokyo (1995-1996)
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research on Priority Areas
• 财政年份: 1995
• 资助国家: 日本
• 起止时间: 1995 至 1997
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-07245103/
• 关键词: dexterity; robot; multi-fingered hand; bioengineering; impedance; reactive behavior; analysis of handwaor; assembly task; ロボットハンド; 把握; パラレルロボット; インピーダンスマッチング; 学習; 適応; 技量の原理; インピーダンス制御; コンプライアンス制御; 包み込み把握; 探り動作; 摩擦; 重力フリーロボット; 協調動作; 手

The hand is called a branch of the brain. Manual dexterity is an intelligent human behavior generated unconsciously with sensory-motor organization in the central nervous system. Such intelligence is hidden from unconsciousness but it is an outcome of biological evolution. The purpose of this research is to understand the intelligence with expressing it by physical principles. The results of this research are summarized from the four viewpoints of 'modeling of tasks under geometrical constrains,' 'analysis of dexterity in tasks,' 'analysis of dexterity in living things' and 'synthesis of dexterity' as follows :1. 'Modeling of tasks under geometrical constrains : 'We have found that the robot motion under geometrical constrains can be expressed by a circuit and have suggested that hybrid control of positions and forces can be analyzed as a DC system. A simulator of peg-in-hole insertion task have been developed in order for virtual reality to be implemented more naturally.2. 'Analysis o … More f dexterity in tasks : 'We have analyzed dexterity in elementary tasks, that have been extracted from tasks with contact, after making measurement of their physical parameters. Our approach to the essence of dexterity has been achieved by evaluating even human intention in performing the task.3. 'Analysis of dexterity in living things : 'We noted importance of impedance and started from measurement of impedance characteristics of human arms. We lighted the essence of dexterity from the standpoint of bioengineering after investigating usage and limits of impedance. We also studied extensively on measurement of abilities of multi-fingered hands in tasks,4. 'Synthesis of dexterity : 'We have introduced a nonlinear structure that connects sensors to reactive behaviors and have abstracted the learning process of emergent motions as parameter learning. We have studied automatic planning of assembly tasks and have succeeded in planning of elementary tasks automatically on the basis of geometrical, mechanical and mathematical analysis. Also, we have constructed a unified control system of motion, force and compliance and have implemented it successfully by a fast parallel robot. Moreover, we have proposed a concept of natural motion for implementing more effective motion. Scale-dependent enveloping grasp by a multi-fingered hand has been realized. Less

手被称为大脑的一个分支。手动灵巧性是中枢神经系统中感觉-运动组织在无意识中产生的一种人类智能行为。这种智力是隐藏在潜意识中的，但它是生物进化的结果。本研究的目的是通过物理原理来表达对智力的理解。本研究从几何约束下的任务建模、任务中的灵巧性分析、生物中的灵巧性分析和灵巧性的综合四个角度总结了本研究的结果。几何约束下的任务建模：我们发现，机器人在几何约束下的运动可以用电路来表示，并提出可以将位置和力的混合控制作为DC系统进行分析。为了更自然地实现虚拟现实，开发了一个插孔任务模拟器。对…的分析任务中的更多灵巧性：我们在测量了基本任务的物理参数后，分析了从接触任务中提取的灵巧性。我们对灵巧本质的理解是通过评估人类在执行任务时的意图来实现的。分析生物的灵巧性：我们注意到阻抗的重要性，并从测量人类手臂的阻抗特性开始。通过研究阻抗的用途和局限性，从生物工程的角度揭示了灵巧的本质。对多指手作业能力的测量也进行了深入的研究。灵巧性的合成：我们引入了一种非线性结构，将传感器与反应行为联系起来，并将紧急动作的学习过程抽象为参数学习。对装配任务的自动规划进行了研究，在几何、力学和数学分析的基础上，成功地实现了基本任务的自动规划。构建了运动、力和柔度的统一控制系统，并在一台快速并联机器人上成功实现。此外，我们还提出了自然运动的概念，以实现更有效的运动。实现了基于尺度的多指手包络抓取。较少

项目成果

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Tsuneo Yoshikawa：“使用动力学模块和交互模块构建虚拟世界”Proc。

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Makoto Kaneko：“尺度相关的抓取”机器人研究，第八届国际研讨会，Springer 23-30（1998）。

Yoshihiko Nakamura: "Nonlinear Behavior and Control of a Nonholonomic Free-joint Manipulator"IEEE Trans. on Robotics and Automation. 13・6. 853-862 (1997)

Yoshihiko Nakamura：“非完整自由关节机械手的非线性行为和控制”IEEE Trans 13・6（1997）。

Suguru Arimoto, Sadao Kawamura and Hyun-Yong Han: "Impedance Matching for Evaluation of Dexterity in Execution of Robot Tasks"Proc. 1998 IEEE Int. Conf. on Robotics and Automation. 1435-1440 (1998)

Suguru Arimoto、Sadao Kawamura 和 Hyun-Yong Han：“用于评估机器人任务执行灵活性的阻抗匹配”Proc。

Young Yu and Tsuneo Yoshikawa: "Evakuation of Contact Stability between Objects"Proc. 1997 IEEE Int. Conf. on Robotics and Automation. 695-702 (1997)

Young Yu和Tsuneo Yoshikawa：“物体之间接触稳定性的消除”Proc。