16 accepted papers
Robotic grasping requires flexible reconfiguration to handle diverse objects and tasks. This paper proposes a monorail-like reconfiguration framework for robotic grippers, inspired by train–rail relationships, that generates diverse finger layouts. The proposed framework unifies two complementary fo…
This study presents a vibrational orbit generation method for a flexible actuator. We propose a method for generating a desired Lissajous curve-like vibrational orbit by inputting a synthetic wave of two sine waves into the vibration source. First, we propose a dynamic model of the actuator, which c
This paper presents a novel gripper capable of actively changing both shape and firmness. The gripper increases its grasp ability by changing its finger posture and firmness suitable for given target objects. In the proposed gripper, each finger is constructed by serially connecting multiple Juzu un
This paper presents a novel design method for wire-driven flexible robot hands. Conventional methods generally focus on the correlation patterns of desired postures called postural synergy. In contrast, the proposed method introduces state torque aggregating the influence of posture, contact force,
This paper presents a novel in-hand rolling manipulation method in which a ball on a cloth attached to fingertips is controlled using flexible and adaptive deformation of the cloth. First, an analytical model of the ball-on-cloth system is introduced. The shape of the cloth is simplified, and the ro…
Pneumatic soft actuators with arrayed chambers (PSAC) can reproduce complex and various shapes such as tongues. This study presents a design method for an internal pressure pattern for the tongue-type PSAC. Specifically, using an analytical model, the propose method determines the internal pressure
This paper proposes a novel flexible vibrational actuator with a structural anisotropy and its control method to diversify the vibrational behavior. First, the analytical model of the proposed actuator, which comprises a rectangular cross-sectional flexible beam and a rotational-type motor, is intro…
This paper discusses a novel task-oriented design method for wire-driven flexible hands. For a monolithic hand fabricated using 3D printing, an analytical design method is proposed to enable it to perform the given tasks. First, the wiring-synergy equation, which relates the parameters of the hand m…
This paper presents a novel manipulation method utilizing dynamic deformation of a flexible body with a structural anisotropy. Employing a spiral flexible body, a dynamic underactuated manipulation using its various vibrational patterns is proposed. First, the orbit of the tip of flexible body for t…
This letter discusses in-hand manipulation inspired by diabolo juggling. Continuous rotational manipulation using the vibration of a flexible belt attached to the hand is proposed. This method is highly adaptable, enabling the hand to manipulate various types of objects, without requiring complex se
This letter discusses the design for wire-driven continuum manipulators. To achieve multiple desired postures, a novel design method that analytically determines the mechanism and control parameters of the manipulator is proposed. First, by introducing a discrete model of the manipulator, the govern
This paper presents a nonprehensile manipulation based on the vibration of a plate, in which three degrees of freedom (DoF) of a planar part are controlled using only one actuator. First, the model of a manipulator with a flat plate end effector is proposed. The manipulator employs an underactuated…
This paper describes nonprehensile manipulation realized using the vibration of a plate. A novel manipulation strategy is proposed wherein the three degrees-of-freedom (DoF) of a part are controlled by only one actuator. First, a manipulator driven by a single actuator is introduced. The end effecto…
This paper proposes a nonprehensile manipulation scheme using the vibration of a plate, where a 3-DoF (degree of freedom) motion of a part is controlled using a single actuator. A manipulator is introduced, the end effector of which is a flat plate. The manipulator employs a hybrid joint mechanism w…
This paper describes an underactuated robot finger whose link posture is controlled by using dynamical effect. The finger posture control method where the vibration center angles of the active joint and the passive one are controlled independently of each other, is proposed. First we introduce the a
This paper discusses a dynamic nonprehensile manipulation by using a vibrating plate. The manipulation method, where two DOF (degrees of freedom) motion of an object on the plate surface is controlled by a single active joint, is proposed. For the plate vibration mechanism, we newly introduce an act…