17 accepted papers
In the field of robot learning, it is becoming possible to coordinate robot action through language instructions. On the other hand, it is still a difficult task to adjust the action based on human instructions because human instructions are often qualitative, and there are cases where there is no o…
Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to program in advance. Recently, AI-based algorithms that can i
Humans perform complex tasks involving force interactions daily. Learning from demonstration, a method for transferring such human manipulation skills to robots, requires techniques for segmenting the demonstrations into movement primitives. Therefore, we propose an unsupervised motion segmentation
Hysteresis-induced drift is a major issue in the detection of force induced during grinding and cutting operations. In this letter, we propose an external force estimation method based on the Mel spectrogram of the force obtained from a force sensor. We focus on the frequent strong correlation betwe
When a robot grasps a tool, the force at the tip of the tool needs to be determined. However, the vibration noise caused by the inertial force of the hand is a major factor that degrades the force-sensing performance. In this study, we develop a gripper force sensor that uses the structure of the fi
This study proposes a technique for determining completion of robotic tasks considering a characteristics that some features on force responses are common among various objects. In particular, this paper focuses on the click response because its pattern is common to many objects, although the magnit…
Contact-based tasks such as assembly and grinding often require the information on contact states. This letter therefore proposes a recognition method based on the Mel Frequency Cepstrum Coefficient (MFCC) of force signals. It demonstrates that the combination of MFCCs and time delayed neural networ
This letter proposes a force sensor that combines semiconductor strain gauges and metallic foil strain gauges to present force information of a higher dynamic range to robots. The strain gauges have different sensitivities, with semiconductor strain gauge sensitivity being approximately 90-fold than
Contact-rich tasks, wherein multiple contact transitions occur in a series of operations, have been extensively studied for task automation. Precision assembly, a typical example of contact-rich tasks, requires high time constants to cope with the change in contact state. Therefore, this letter prop
Robots are required to autonomously respond to changing situations. Imitation learning is a promising candidate for achieving generalization performance, and extensive results have been demonstrated in object manipulation. However, cooperative work between humans and robots is still a challenging is
The following topics are dealt with: mobile robots; learning (artificial intelligence); robot vision; path planning; motion control; medical robotics; optimisation; object detection; position control; collision avoidance.
Various adaptive abilities are required for robots interacting with humans in daily life. It is difficult to design adaptive algorithms manually; however, by using end-to-end machine learning, labor can be saved during the design process. In our previous research, a task requiring force adjustment w
This paper describes the design of a high dynamic range (HDR) six-axis force/torque sensor. The sensor is composed of a high-rigidity flexure element detecting large force and a low-rigidity flexure element detecting small force. The overload on the low-rigidity flexure element is prevented by an ov…
This study proposes an imitation learning method based on force and position information. Force information is required for precise object manipulation but is difficult to obtain because the acting and reaction forces cannot be separated. To separate the forces, we proposed to introduce bilateral co…
Nonprehensile manipulation is necessary for robots to operate in humans' daily lives. As nonprehensile manipulation should satisfy both kinematics and dynamics requirements simultaneously, it is difficult to manipulate objects along given paths. Previous studies have considered the problems with seq
This paper introduces a method of force control for a jumping biped robot to correctly control the ground reaction force during continuous jumping. Assuming dynamic motion, such as jumping and running, the attitude of the robot depends on the dynamics in response to the ground reaction force. Theref…
This paper introduces the control method for the impact force based on feed-forward control considering the stiffness ellipse of a biped robot. Assuming dynamic motion, such as jumping and running, the jumping direction depends on the dynamics in response to the ground reaction force. Therefore, it…