8 accepted papers
In this study, we propose and implement a method for grasping only the topmost layer of stacked fabrics with a dual-arm robot and placing it at a target position. The proposed method employs a three-finger robot hand consisting of one adhesive finger and two non-adhesive grasping fingers to grasp on
When a robot manipulates a flexible object, a delicate grasp is required. Slip is an important indicator that can enable a robotic manipulator to delicately grasp an object. Therefore, we created a 3×3 tactile sensor matrix covered with a elastomer grip, intended to be used on a robotic fingertip, t
Service robots have developed considerably in recent years. This study aims to propose two approaches for controlling the motion of a service robot as it pours liquid precisely from an unknown container into another unknown container without the need of any external tools. To realize this task, we m…
This paper proposes an architecture with a two-layered structure for implementing an air-hockey robot that performs tactically in the deployment of entertainment robots. The two-layered architecture is comprised of two components: a tactical component that governs tactics and a skill component that…
This paper proposes a motion-planning method for a wrapping-with-fabric task. To wrap, robots require not only offhand paths (which represent the movement of a grasping point on fabric) but also actual robot motion. When a robot handles fabric, it must consider the range of motion and collisions. To…
Many robotics researchers are currently addressing the challenge of string-tying operations. Actual knot-tying tasks require metrics, such as the positions, sizes, and shapes of the knots, as well as the segment lengths of the knots. In this letter, we propose unified expressions for string-tying op
This paper describes the implementation of a twisting skill to a multi-DOF end effector for manipulating linear deformable objects (LDOs). When manipulating of LDOs such as rope knotting, an important factor is to control torsion. However, controlling torsion is difficult using only the robot arm mo…
In the present paper, we propose a method for in-air knotting by a dual-arm, multi-finger robot. Most previous studies about knotting by robots assume that the rope is placed on a table. However, in-air knotting requires more skillful hand manipulations, such as swapping ropes between the right and…