15 accepted papers
This study proposes a novel concept of an electric tractor that can flexibly respond to tasks with different traction force requirements. The key idea is to attach motor-integrated additive driving wheel units (AddTraX) to the rear wheel of the tractor according to the required traction force. The r…
Several machine learning (ML)-based measurement systems have been proposed to estimate difficult-to-measure quantities from the values of distance sensor arrays. However, variations in sensor output characteristics (OCs) can lead to degradation in the estimation accuracy when transferring training d…
In pin-hole assembly processes, precise alignment or compliance mechanisms are typically required. This paper proposes a method for connecting objects by utilizing caging to constrain their motion, enabling the insertion of a pin into a hole to adjust the allowable relative pose for assembly. This a
In pin–hole assembly processes, precise alignment or compliance mechanisms are typically required. This paper proposes a method for connecting objects by utilizing caging to constrain their motion, enabling the insertion of a pin into a hole to adjust the allowable relative pose for assembly. This a…
Several machine learning (<bold xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">ML</b>)-based measurement systems have been proposed to estimate difficult-to-measure quantities from the values of distance sensor arrays. However, variations in sensor output c
To reduce errors in the remote control of robots during decommissioning, we developed a Rail DRAGON, which enables continuous observation of the work environment. The Rail DRAGON is constructed by assembling and pushing a long rail structure inside the primary containment vessel (PCV), and then repe
Recently, various types of hand shape recognition systems have been developed for human–machine interfaces. However, most wearable recognition systems cannot robustly handle the variations in attachment positions of the devices. Thus, we propose a hand shape recognition system using a wearable multi
The existing manufacturing systems based on processes involving the transportation of workpiece are unsuitable for large products such as air mobility systems. This study proposes a novel ultra-complex manufacturing system called the “Modularized-Structure and Multiple-Points Simultaneous Machining…
Ceiling mobile robots are anticipated for trans-porting component parts in production sites. In our previous study, we had developed a crawler-type ceiling mobile robot named "HanGrawler." In this study, we aim to realize 1 m/s and 90°/s speed movement on par with existing ground carriers, and revea…
Unmanned robots have been proposed for the decommissioning of Fukushima Dai-ichi Nuclear Power Plant. To achieve efficient movement of robots in the high-radiation environment, we propose an “automated construction system of a modularized rail structure.” In the high-radiation environment, the rail…
In mechanical systems, control parameters are often manually tuned by an expert through trial and error, which is labor-intensive and time-consuming. In addition, the difficulty of this problem is that there often exist multiple solutions that provide high returns. As a designed objective function i
Crop grow measurement technologies are important to increase the farm productivity. Detection and measurement of fruit volume are useful for forecasting and harvesting applications. Some environmental challenges such as lighting conditions or occlusions make the fruit detection difficult. Our approa…
Recently, there are an increasing number of developing wearable devices that intent to display various contents. As can be seen in sign languages and hand signals, hand gestures can express rich information with small motions, therefore, they are useful input for those devices. Especially, these ges…
In order to perform productive autonomous excavation of a fragmented rock pile, it is necessary to recognize the condition of the fragmented rock pile and to plan appropriate excavating motion according to the condition of the fragmented rock pile. In this paper, we propose imitation-based motion pl…
The goal of this paper is to develop a regrasp planning algorithm general enough to perform statistical analysis with thousands of experiments and arbitrary mesh models. We focus on pick-and-place regrasp which reorients an object from one placement to another by using a sequence of pick-ups and pla…