14 accepted papers
Position Based Dynamics (PBD) has been widely adopted for interactive simulation, particularly in applications such as virtual surgery and elastodynamics. However, many existing frameworks focus exclusively on interactive deformation, often neglecting the comprehensive analysis of stress distributio
This study developsan omnidirectional panoramic video system that can simultaneously observe zoom-in images at dozens of different viewpoints in a <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$360^{\circ }$</tex-
In this letter, we propose a fast mirror-drive pan-tilt target tracking system that can robustly track an object whose appearance varies in a complex background at 500 fps. By assuming a small image displacement between frames, which is a property of high-frame rate vision, we develop an fast object
In this study, a visual shock absorber capable of adapting to free-fall objects with various weights and speeds is designed and realized. The key element is a magnetic gear to passively absorb shock in the moment of contact, which is difficult for traditional feedback control to deal with. The magne…
In this study, Magripper, a highly backdrivable gripper, is developed to achieve high-speed hitting grasping executed seamlessly from reaching. The gripper is designed to achieve both high speed and environmental adaptability. The key element is backdrivability in terms of both hardware and control.…
This study proposes a dynamic observable contact (DOC) hand as a new multifingered hand to ensure high- speed insertion in an assembly process with a small clearance between objects. To achieve insertion with a small clearance at high speed, a robot hand must realize both impact reduction and positi…
In this letter, we propose a combination of sensing and control modules for catching soft objects (i.e., a marshmallow and paper balloon) at a high speed with small deformation. A paper balloon and marshmallow are deformed by a small force and they have individual differences in terms of softness. T
We developed a fingertip-size proximity sensor that detects the distance to and the tilt angle of the surface of an object with the peak-to-peak distance error less than 1/129th (<;31 μm) and the measuring time less than 1/10th (<;1 ms) those of existing sensors. In addition, we realized the task of
The regrasping function of a robotic hand and arm has been investigated by many studies. Dynamic regrasping is performed by accelerating objects and it has the advantage of being able to perform the regrasp function at high speed. However, the difficulty of increasing the success rate is a persisten…
In this study, the impedance control for smoothly receiving the impact of an incoming object is designed and realized. The control strategy is based on the idea that the back drive motion of an end effector attributable to the collision impact is regarded as plastic deformation of the robot. The imp
In this study, a deformation control with spatial decoupling properties is designed and implemented. This control strategy treats the shift in position and posture attributable to an external force as the deformation of the robot. The deformation dynamics are constructed from the Maxwell and Voigt m…
This paper focuses on high-performance robotic contour tracking under the uncertainties that commonly exist in actual robotic applications. These uncertainties can be attributed to the robot itself (such as modeling errors or mechanical defects like backlash) or to environmental issues (such as cali
Realizing accurate robotic manipulation of flexible objects is very challenging. It asks for dexterous manipulation skill, and demands good adaptation to dynamic uncertainties due to deformation. Unlike traditional methods that basically depend on complex modeling, we follow the opposite approach by…
A visually guided shock absorber for high-speed catching without rebound is designed and realized. This visual shock absorber is based on the Maxwell model, which uses plastic deformation to suppress rebounding. The shock absorber is constructed from a spring-based passive elastic body and a servo c…