Pincette manipulation of objects which can not be touched directly with modularization of manipulation space

通过操作空间的模块化，对无法直接触摸的物体进行镊子操作

• 批准号: 20760162
• 负责人: WATANABE Tetsuyou
• 金额: $ 2.75万
• 依托单位: Kanazawa University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Young Scientists (B)
• 财政年份: 2008
• 资助国家: 日本
• 起止时间: 2008 至 2010
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-20760162/
• 关键词: ロボットハンド; 把持; 物体操作

The purpose of this project is to improve the functions of multi-fingered hands by developing the schema for object grasping and manipulation with tools such as tweezers controlled by multi-fingered robot hands. Its final goal is to develop multi-fingered robot hand systems which are available at the human environment such as home, medicine and welfare. The main contributions are as follows ; establishment of evaluation schema for object manipulability, establishment of schema for realizing object grasping even when contact uncertainties exist, development of database for object grasping, and establishment of the method to plan object grasping and manipulation based on database searching.

该项目的目的是通过开发使用多指机器人手控制的镊子等工具抓取和操纵物体的模式来改善多指手的功能。其最终目标是开发可用于家庭、医疗和福利等人类环境的多指机械手系统。主要贡献如下：建立物体可操纵性的评估模式，建立即使存在接触不确定性也能实现物体抓取的模式，开发物体抓取数据库，并建立基于数据库搜索的规划物体抓取和操纵的方法。

项目成果

Grasp Motion Planning for box opening task by multi-fingered hands and arms

多指手和手臂打开盒子任务的抓取运动规划

• 发表时间: 2009
• 期刊: Proc.of Int.Sympo.on Computational Intelligence in Robotics and Automation
• 作者: Tetsuyou Watanabe;Michael Beetz
• 通讯作者: Michael Beetz

Manipulability Measures taking Necessary Joint Torques for Grasping into consideration

考虑到抓取所需的关节扭矩的可操作性措施

• 发表时间: 2010
• 期刊: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
• 作者: Hiroki Takeuchi;Tetsuyou Watanabe;田中由浩;田中由浩;Tetsuyou Watanabe
• 通讯作者: Tetsuyou Watanabe

作動範囲に基づく把持システム可操作性指標

基于工作范围的抓取系统机动性指标

• 发表时间: 2010
• 期刊: 日本ロボット学会誌 28(8)
• 作者: 佐藤英雄;田中由浩;藤本英雄;渡辺哲陽
• 通讯作者: 渡辺哲陽

Task Based Hybrid Closure Grasping Optimization for Autonomous Robot Hand

基于任务的自主机器人手混合闭合抓取优化

• 发表时间: 2009
• 期刊: Design and Control of Intelligent Robotic Systems(edited by Dikai Liu, Lingfeng Wang, and Kay Chen Tan)
• 作者: Tetsuyou Watanabe;ZhongWei Jiang;Tsuneo Yoshikawa
• 通讯作者: Tsuneo Yoshikawa

関節トルク・速度対に基づくロボットマニピュレータのための可操作性

基于关节扭矩/速度对的机器人操纵器的可操纵性

• 发表时间: 2008
• 期刊: 日本機械学会論文集C編 74(748)
• 作者: Takahiro Kagawa;Yu Ohta;Yoji Uno;渡辺哲陽
• 通讯作者: 渡辺哲陽