Ryohei Ueda — accepted AI-conference papers

2016

Achievement of localization system for humanoid robots with virtual horizontal scan relative to improved odometry fusing internal sensors and visual information

Iori Kumagai, Ryohei Ueda, Fumihito Sugai, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada +1

IROS 2016poster

To achieve tasks in unknown environments with high reliability, highly accurate localization during task execution is necessary for humanoid robots. In this paper, we discuss a localization system which can be applied to a humanoid robot when executing tasks in the real world. During such tasks, hum…

Cited by 9 Source ↗Scholar ↗

2016

Planning and execution of groping behavior for contact sensor based manipulation in an unknown environment

Masaki Murooka, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba

ICRA 2016

Groping behavior based on contact sensors is necessary for manipulation in an unknown environment. For those situations, it is effective for a robot to accumulate contact information as an environment map, and to plan the motions for executing the safe trial motion. We first propose a method of upda

Cited by 6 Source ↗Scholar ↗

2015

Whole-body holding manipulation by humanoid robot based on transition graph of object motion and contact

Masaki Murooka, Yuto Inagaki, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada +1

IROS 2015poster

Whole-body holding manipulation is effective for carrying the handleless large object. In order to keep the object stability, the dexterous transition motion is necessary. From geometric and physical conditions of object manipulation, we propose the general method of generating the transition graph,…

Cited by 5 Source ↗Scholar ↗