4 accepted papers
For successful peg-in-hole assembly, predefined sub-tasks should be executed sequentially according to the current contact state. Therefore, recognizing contact state transitions is essential in order to determine whether to continue the current task or proceed to the next. In that context, learning
The avatar robot is a robot capable of realistic remote operation. In remote operation, the controllability of the glove is crucial. This glove can manipulate the hand interacting directly with the environment at the remote site. The glove must be able to accurately estimate the hand posture and pro…
In this study, a mechanism that realizes a novel structural form of the harmonic reducer is introduced. Conventional robots often use various mechanical reducers owing to low torque and high-speed characteristics of electric motors. Among them, harmonic reducers are frequently used because of their…
Stable contact and safe responses to the collision have been studied to develop interactive robots such as service and collaborative robots. Stable and safe interactions are usually achieved through the inherent compliance of a motion controller with external torque estimation. However, a fixed cont…