9 accepted papers
In order to make robots more useful in a variety of environments, they need to be highly portable so that they can be transported to wherever they are needed, and highly storable so that they can be stored when not in use. We propose "on-site robotics", which uses parts procured at the location wher…
A robotic hand for social interaction should be capable of comfortable touch with humans. However, it is difficult to mount skin, tactile sensors, and driving mechanism required for human contact, especially holding hands, on a slender finger. In addition, in order to unitize the hand for easy use w…
It is important for daily life support robots to detect changes in their environment and perform tasks. In the field of anomaly detection in computer vision, probabilistic and deep learning methods have been used to calculate the image distance. These methods calculate distances by focusing on image…
The purpose of this paper is the robotic hanging manipulation of an object of various shapes that is not limited to a specific category. To achieve this, we propose a method that allows the estimator to learn many different shapes with hanging points without any manual annotation. A random shape gen…
In this paper, we aim to recognize function points of category-agnostic objects and perform object manipulation. To recognize function points of various shapes, it is necessary to train with a large amount of training data. Also, it is necessary to take into account not only visual information but a…
The learning-from-observation (LfO) framework aims to map human demonstrations to a robot to reduce programming effort. To this end, an LfO system encodes a human demonstration into a series of execution units for a robot, which are referred to as task models. Although previous research has proposed…
In this paper, we propose an approach for online whole-body control of position-controlled humanoid robot with 3D multi-contact to cope with contact wrench constraints and joint overload. In our method, robots are controlled under contact wrench constraints with three features: 1) internal wrench co…
For robots to autonomously achieve manipulation tasks in various scenes, advanced operational skills such as tool use, learning from demonstration, and multi-robot/human-robot cooperation are necessary. In this research, we devise a method for robots to realize such operational skills in a unified m…
We propose a human mimetic foot structure for musculoskeletal humanoids. We designed the foot structure by inspiring from human foot abilities of the multi-bone connected structure for flexibility and the distributed force sensor system. The foot has multi-DOFs structure including toe DOF that is co…