Control and Signal Processing for Multi-fingered Dual-arm Robots to Realize Dexterous Manipulations

多指双臂机器人的控制与信号处理实现灵巧操作

• 批准号: 21246039
• 负责人: HAYAKAWA Yoshikazu
• 金额: $ 28.04万
• 依托单位: Nagoya University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (A)
• 财政年份: 2009
• 资助国家: 日本
• 起止时间: 2009 至 2012
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-21246039/
• 关键词: ロボット制御; 多指ハンド; 運動制御; センサ情報処理; 学習制御; 多指ハンドロボット; 協調制御; センサー情報処理; コボット制御

The obtained results in this study are following;(1) some stability conditions of multi-fingered hand grasp (three-dimensional case) has been clarified theoretically, and a decision method has been proposed which searches optimal grasping positions and forces.(2) A curved surface tactile sensor with the upper arm size has been applied to guide a nursing care robot.(3) It has been succeeded that the single hand robot with three multi-fingers manipulates scissors and writes calligraphy and penmanship, and the dual hands robot with multi-fingered hands makes the folded paper.(4) A dual-arm robot systemwas composed of two arm robots (each has 6 degrees of freedom) each of which has a hand with three fingers (each has 3 degrees of freedom) to be used for the practical applicationverification of issues above, but such flexibility of the fingertip and allocation of jointdegrees of freedom have emerged as new challenges.

本文的主要研究结果如下：（1）从理论上阐明了多指手抓取（三维情况）的稳定性条件，并提出了一种搜索最佳抓取位置和抓取力的决策方法。(2)一个弯曲的表面触觉传感器与上臂的大小已被应用到指导护理机器人。(3)三个多指的单手机器人完成了剪刀的操作和书法、书法的书写，多指的双手机器人完成了折纸。(4)双臂机器人系统由两个手臂机器人（每个手臂有6个自由度）组成，每个手臂有一个手，每个手有三个手指（每个手指有3个自由度），用于上述问题的实际应用验证，但指尖的灵活性和关节自由度的分配已经成为新的挑战。

项目成果

Weight-perception-based novel control of a power-assist robot for the cooperative lifting of light-weight objects

基于重量感知的新型动力辅助机器人控制，用于协作举升轻质物体

• 发表时间: 2012
• 期刊: International Journal of Advanced Robotic Systems
• 影响因子: 2.3
• 作者: 服部貴政;山田陽滋;岡本正吾;森周司;原進;山田峻輔;S.M.M. Rahman and R. Ikeura
• 通讯作者: S.M.M. Rahman and R. Ikeura

Model-Based Control for Nonprehensile Manipulation of a Two-Rigid-Link Object by Two Cooperative Arms

基于模型的两个协作臂对两个刚性连杆物体的非综合操纵控制

• 发表时间: 2010
• 作者: Z.Zyada;Y.Hayakawa;S.Hosoe
• 通讯作者: S.Hosoe

Towards human-robot cooperative object transfer : perceiving different part of the object during task and motion smoothness

面向人机协作对象转移：在任务和运动平滑过程中感知对象的不同部分

• 发表时间: 2010
• 作者: A.F.Sallah;R.Ikeura;et al.
• 通讯作者: et al.

Analysis of human arm characteristics in cooperative motion based on musculoskeletal model

基于肌肉骨骼模型的人体手臂协作运动特性分析

• 发表时间: 2010
• 作者: Y.Wang;R.Ikeura;et al.
• 通讯作者: et al.

Control of a power assist robot for lifting objects based on human operator's perception of object weight

基于人类操作员对物体重量的感知来控制用于提升物体的助力机器人

• 发表时间: 2009
• 作者: S.M.M.Rahman;R.Ikeura;M.Nobe;H.Sawai
• 通讯作者: H.Sawai