8 accepted papers
In this study, we propose and implement a method for grasping only the topmost layer of stacked fabrics with a dual-arm robot and placing it at a target position. The proposed method employs a three-finger robot hand consisting of one adhesive finger and two non-adhesive grasping fingers to grasp on
When a robot manipulates a flexible object, a delicate grasp is required. Slip is an important indicator that can enable a robotic manipulator to delicately grasp an object. Therefore, we created a 3×3 tactile sensor matrix covered with a elastomer grip, intended to be used on a robotic fingertip, t
The humanoid robot that can transform itself into a form according to its purpose requires whole-body motions with complex contact state transitions such as recovery from a fall and transition to the target form. To make the robot behavior in simulations closer to that in the real world for planning…
There is increasing demand for robots that provide a mode of transportation in environments in which people coexist. However, conventional mobile robots, especially those carrying people, are limited in terms of their environments and tasks. For example, wheeled robots are limited to moving on flat…
Learning unknown objects in the environment is important for detection and manipulation tasks. Prior to learning the unknown objects the ground-truth labels have to be provided. The data annotation or labeling can be achieved in a number of ways but the most widely used method is still manual annota
The sequential online tuning for controller gains is required for the continuous action of the riding into parallel two-wheeled scooter and the speed governing after riding by humanoid robot. The implemented controllers are different between the riding and the speed governing, and these tuning strat…
Humanoid robot has the potential to manipulate wide range of tools in daily life. Arms and legs of humanoid robot contribute this ability. Above all, manipulation tasks for vehicles which are the same size as a life-sized humanoid or larger size than it require the operational motion by both arms an…
We propose a sensor-driver integrated muscle module by integrating necessarily components for tendon-driven robot which is likely to complicate. The module has abilities of high-tension measurability and flexible tension control. In order to achieve flexible tension control, we developed the new ten…