4 accepted papers
For successful peg-in-hole assembly, predefined sub-tasks should be executed sequentially according to the current contact state. Therefore, recognizing contact state transitions is essential in order to determine whether to continue the current task or proceed to the next. In that context, learning
The avatar robot is a robot capable of realistic remote operation. In remote operation, the controllability of the glove is crucial. This glove can manipulate the hand interacting directly with the environment at the remote site. The glove must be able to accurately estimate the hand posture and pro…
As compliant joints not only compensate for the lack of actuated degrees of freedom of an under-actuated system and improve grasp stability but also prevent system failure from unexpected contacts, various types of compliant joints have been applied to end-effectors. Although joint compliance increa
In this study, a mechanism that realizes a novel structural form of the harmonic reducer is introduced. Conventional robots often use various mechanical reducers owing to low torque and high-speed characteristics of electric motors. Among them, harmonic reducers are frequently used because of their…