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RI | People | Yasumichi Aiyama
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Yasumichi Aiyama
Visiting Scientist
No longer a member of RI.
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| Research interests |
I want to realize human-like dexterous robot manipulation. Traditional robot manipulator in production plant is just like as one hand pick-and-place manipulation. The object must be small enough to grasp and light enough to pick up. But human can manipulate other objects; a large table by pushing, for example.
I have introduced several kinds of dexterous manipulation. Graspless manipulation is one of them. Even if a manipulator does not achieve force closure or form closure grasp, it can manipulate an object as desired way by using environment and gravity as support for the object. Releasing manipulation, passing manipulation are dynamic manipulation.
By using dynamic characteristics of an object, it can be manipulated to outside of manipulator's workspace and can also be manipulated in larger d.o.f. than that of manipulator actuators.
| Research interest keywords |
assembly, manipulation, manufacturing, and mechatronics
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