8 accepted papers
A robotic hand for social interaction should be capable of comfortable touch with humans. However, it is difficult to mount skin, tactile sensors, and driving mechanism required for human contact, especially holding hands, on a slender finger. In addition, in order to unitize the hand for easy use w…
In recent years, there has been a great deal of research on teleoperation of robots, and many end-effector-oriented control systems have been proposed, but these systems have difficulties in performing manipulation tasks with physical contacts between the target object, the robot, and the environmen
This study presents an approach for acquiring model parameters of close-range approximate proximity sensors on a robot hand using long-range distance sensors while that hand is grasping an object. The acquired models are used to generate a precise close-range distance output. We aim herein to acquir
Recent progress of deep learning improved the capability of a robot to find a proper grasp of a novel object for different grasp modalities (e.g., pinch and suction). While these previous studies consider multiple modalities separately, several studies develop multi-modal grippers that can achieve s…
Robots need to adapt themselves to various surroundings in order to achieve robust object search and grasp in unknown environments. For this adaptation, robot motions should be implemented as combination of primitive motions which are based on sensor reaction. Among various sensing methods, non cont…
Robotic picking of folded objects such as books is required for picking various objects. As a folded object is easily unfolded, it is difficult to carry it stably and place it in a desired pose due to its dangling part. For overcoming this difficulty, we propose a trial-and-error picking system usin…
Recently, self-supervised approach is common for robot grasping. Although this approach improves success rate, it requires a long time to execute a number of grasp trials, and single-arm grasping is only considered. However, robots can grasp more various objects with two arms, and dual-arm robots su…
Picking various objects in cluttered narrow space automatically is required for warehouse automation. In this space, multi-fingered robot hands have difficulty in grasping objects as objects are surrounded by obstacles. On the other hand, vacuum grippers have difficulty in grasping various objects s…