ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1P2-D03
会議情報
1P2-D03 ロボットの即応的柔軟物使用のための単純モデルによる動作生成
新井 悠介若田部 亮田中 一敏大村 吉幸國吉 康夫
著者情報
会議録・要旨集 フリー

詳細
抄録
For social advancement of robots, robots using deformable objects as tool similar to the rigid tools are important. In a prior research, robots used deformable tool by iterative learning. And another research, robots manipulate a string using a complex deformable object model. However, it is important to succeed in one time trial and decreasing calculation and measurement cost by simplifying models for adaptive action. Here, we propose a new method that robots measure a natural period of deformable object, estimate stiffness of simplified model and generate motion to perform retrieval tasks adaptively. As a result, we showed validity of the proposed method in various stiffness of model and efficacy with non-uniform model in simulation. Moreover, we constructed a real robot performing retrieval task with real deformable objects. By our research, we expect that robots advance into human society more and more.
著者関連情報
© 2015 一般社団法人 日本機械学会
前の記事 次の記事
feedback
Top