16 accepted papers
We developed a simple peg-in-hole strategy that uses flexible joints and peg rotations. Even when the circle peg in the peg-in-hole assembly contains position and orientation errors, it can be inserted in a passive and robust manner. Additionally, using force-torque sensors to estimate the contact p…
We developed a simple peg-in-hole strategy that uses flexible joints and peg rotations. Even when the circle peg in the peg-in-hole assembly contains position and orientation errors, it can be inserted in a passive and robust manner. Additionally, using force-torque sensors to estimate the contact p
This study proposes a novel robotic gripper with variable grasping configurations for grasping various objects. The fingers of the developed gripper incorporate multiple different surfaces. The gripper possesses the function of altering the finger surfaces facing a target object by rotating the fing
This study presents a method for estimating the three-dimensional (3D) shapes of transparent objects from an RGB-D image using a statistical shape model. Statistical shape models compress the dimensions of multiple shapes to represent shape variations using fewer parameters. It is difficult to measu…
This study proposed a novel robotic gripper that can achieve grasping and infinite wrist twisting motions using a single actuator. The gripper is equipped with a differential gear mechanism that allows switching between the grasping and twisting motions according to the magnitude of the tip force ap
This letter proposes a robust grasping strategy for unknown objects by performing non-contact grasp-stability evaluation based on proximity sensing. First, we developed a proximity sensor for a multi-fingered hand. Its features are sensor mounting on a spherical fingertip and coating with transparen
This letter proposes a novel pneumatic soft robotic hand that incorporates a mechanism that can switch the airflow path using a single airflow control. The developed hand can control the finger motion and operate the surface friction variable mechanism. In the friction variable mechanism, a lubrican
Casting manipulation has been studied to expand the robot’s movable range. In this manipulation, the robot throws and reaches the end effector to a distant target. Usually, a special casting manipulator, which consists of rigid arm links and specific flexible linear objects, is constructed for an ef…
Quickness, preciseness and robustness are required in manipulation tasks of robotic hands for automation of manufacturing sites. Previous researches have found that sensing from fingertips equipped with proximity sensors is available for the requirements, because it complements blind areas of vision…
In this letter, we present a novel gripper, whose design was inspired by chuck clamping devices, for transferring heavy objects and assembling parts precisely in industrial applications. The developed gripper is lightweight (0.9 kg), can manipulate heavy payloads (over 23 kgf), and can automatically
This paper proposes new software and hardware platforms named ROS-TMS and Big Sensor Box, respectively, for an informationally structured environment. We started the development of a management system for an informationally structured environment named Town Management System (TMS) in the Robot Town…
This letter investigates the effect of the surface texture of soft deformable fingertips on the maximum resistible force under dry and wet conditions, and proposes a new hybrid structure that provides a stable grasp under both conditions. One definition of stable grasp is the capability of balancing
This paper presents methodologies for dexterous manipulation by an underactuated robotic soft gripper with a low DOF. While the softness and passive joints provide a stable grasp, the manipulations become challenging owing to the complexities of modeling and state estimation. To investigate the draw…
A novel robotic gripper with soft surfaces and underactuated joints was proposed. The soft surface was fabricated from a deformable rubber bag filled with incompressible fluid and a microgripper inside the fluid. A ratchet was installed at the underactuated joint so that the joint's rotation caused
In this study, we experimentally investigated the effect of robot fingertip stiffness on the maximum resistible force. The maximum resistible force is defined as the maximum tangential force at which the fingertip can maintain contact when applying and increasing tangential/shearing force. We includ…
We propose an evaluation method of grasp stability which takes into account the elastic deformation of fingertips from the viewpoint of energy. An evaluation value of grasp stability is derived as the minimum energy which causes slippage of a fingertip on its contact surface. To formulate the evalua…