6 accepted papers
We present a method that enhances the safety and responsiveness of robotic manipulators through constrained Variable Admittance Control (VAC) combined with proximity perception. Recent studies have demonstrated that manipulators equipped with proximity sensors can avoid close obstacles in real-time.…
With the growth of logistics automation, there is an increasing demand for advanced grippers. This study presents a gripper that integrates suction cups into the fingertips to overcome the limitations of traditional robotic gripping methods. Designed with a 5-degree-of-freedom structure, the gripper
We present a method that enhances the safety and responsiveness of robotic manipulators by employing constrained Variable Admittance Control (VAC) in conjunction with proximity perception. Recent studies have shown that manipulators equipped with proximity sensors can effectively avoid nearby obstac
Robotic grasping is one of the essential skills in robotics. From industrial to housework, robots are required to handle objects, enabling them to interact with their surroundings. Among the various tasks in robotic grasping, bin-picking is considered one of the most challenging because of the clutt
Random bin picking is a crucial task in logistic centers, which is driven by E-Commerce growth. In this letter, we present an end-to-end method for 6-DoF antipodal grasps from cluttered scenes. Our approach includes two main steps: finding Potential Grasp Areas (PGAs) from depth image of the bin and
This letter introduces a dual-type proximity sensor and a control strategy for a robot manipulator to realize safe human-robot interactions (HRI) by using the sensor. Safety is an essential condition for HRI in practical scenarios. To achieve this condition, information about the relationship betwee