7 accepted papers
For assembly tasks, it is essential to fix target parts firmly and accurately estimate their poses. Several rigid jigs for individual parts are frequently used in assembly factories to achieve a precise and time-efficient product assembly. However, providing customized jigs is time-consuming. In thi…
To generate assembly sequences that robots can easily handle, this study tackled assembly sequence generation (ASG) by considering two tradeoff objectives: (1) insertion conditions and (2) degrees of the constraints affecting the assembled parts. We propose a multi-objective genetic algorithm to bal…
To design a general-purpose assembly robot system that can handle objects of various shapes, we propose a soft jig that fits to the shapes of assembly parts. The functionality of the soft jig is based on a jamming gripper developed in the field of soft robotics. The soft jig has a bag covered with a…
For a robotic gripper to perform as well as the human hand, the performance of the tactile sensing and grasping of the gripper must be improved. In this study, a parallel gripper with a universal fingertip device that combines both object holding using jamming transition and optical sensing is propo…
Filter-based methods are a suitable option to deal with the burdensome 3D pose estimation problems for their incremental properties. The classical approaches use the Gaussian distribution to model the uncertainty of the pose parameters and recent work has begun to take advantage of the Bingham distr…
Automated factories use deep-learning-based vision systems to accurately detect various products. However, training such vision systems requires manual annotation of a significant amount of data to optimize the large number of parameters of the deep convolutional neural networks. Such manual annotat
The universal gripper has attracted attention due to its simple structure and advanced grasping ability for irregularly shaped objects. In this research, we propose a novel design for a granular-jamming-based gripper which uses a transparent filling and a semi-transparent membrane to allow optical s…