Hurobint in Korea 2011 - Robotic Manipulation by Incomplete Grasping
•
1 like•1,193 views
This document summarizes the research of Satoshi Makita, an assistant professor specializing in robotic manipulation by incomplete grasping. His research topics include analyzing contact forces in robotic manipulation, caging grasping using geometrical constraints from position-controlled robots, and designing and controlling robot hands. Specifically, he studies graspless manipulation where objects are supported by both the robot and environment, caging where objects are constrained but can move, and planning caging grasps using motion planners. He also works to improve the manipulability of tendon-driven hands like the human hand. Makita hopes to learn more about Korean robotics and make contacts in the field.
![Self-introduction
◦ 2010.03
Dr. of Eng. (Yokohama National University)
[Robotic manipulation by incomplete grasping]
◦ 2010.04-present
Assistant Professor
(Sasebo National College of Technology)
2](data:image/gif;base64,R0lGODlhAQABAIAAAAAAAP///yH5BAEAAAAALAAAAAABAAEAAAIBRAA7)
Recommended
More Related Content
More from Fukuoka Institute of Technology
More from Fukuoka Institute of Technology (20)
Recently uploaded
Recently uploaded (20)
Hurobint in Korea 2011 - Robotic Manipulation by Incomplete Grasping
- 1. Robotic manipulation by incomplete grasping Satoshi Makita (Sasebo National College of Tech.)
- 2. Self-introduction ◦ 2010.03 Dr. of Eng. (Yokohama National University) [Robotic manipulation by incomplete grasping] ◦ 2010.04-present Assistant Professor (Sasebo National College of Technology) 2
- 3. My research topics Manipulation theory ◦ Analysis of contact forces in robotic manipulation Calculate feasible contact forces ◦ Caging grasping Geometrical constraint by position-controlled robots Robot hand design and control Manipulation planning Wire-driven hand 3
- 4. Incomplete grasping Graspless manipulation ◦ The manipulated object is supported by not only the robot hand but also the environment. Caging ◦ The manipulated object is constrained only by the robot hand, but can move to some extent. c.f. Grasping ◦ The manipulated object is rigidly constrained only by the robot hand. 4
- 5. Graspless manipulation Robustness analysis ◦ How robust is the manipulated object against some disturbances? robust robust ? not robust robust 5
- 6. Caging Sufficient conditions for caging constraint ◦ Which configuration of the hand can make the object inescapable geometrically? inescapable escapable 6
- 7. Caging Planning ◦ RRT-based motion planner 7
- 8. Robotic hand Improvement manipulability of human-like hand (tendon-wire-driven hand) 8
- 9. National College of Technology Called “KOSEN” in Japanese Unique educational systems for engineers ◦ 5 years curriculum after graduation of JHS (In general, 3years for HS and 4years for univ.) ◦ Focus on practical engineering ◦ Many experiment classes ◦ Write an academic thesis Activity: Robot contest (RoboCon) http://www.youtube.com/watch?v=afCrOMvo-cE 9
- 10. Hopes To learn Korean Robotics To make contacts each other Thanks for your attention. 10