Yoshihiro Sakamoto — accepted AI-conference papers

2021

Object Picking Using a Two-Fingered Gripper Measuring the Deformation and Slip Detection Based on a 3-Axis Tactile Sensing

Satoshi Funabashi, Yuta Kage, Hiroyuki Oka, Yoshihiro Sakamoto, Shigeki Sugano

IROS 2021poster

Object picking with two-fingered grippers is widely used in practice. However, the deformability and slipperiness of the target object still remain a challenge, and not resolving them might lead to breaking or dropping of the grasped objects. To prevent such instances, tactile sensing plays an impor…

Cited by 5 Source ↗Scholar ↗

2018

Evaluation of Series Clutch Actuators With a High Torque-to-Weight Ratio for Open-Loop Torque Control and Collision Safety

Yushi Wang, Alexander Schmitz, Kento Kobayashi, Javier Alejandro Alvarez Lopez, Wei Wang, Yuki Matsuo +2

RA-L 2018

For robots that act outside of tightly controlled environments, force control is often better suited than position control. Series clutch actuators, used without an elastic element, can achieve excellent position control or can be used as a force/torque source. Clutches based on different physical p

Cited by 10 Source ↗Scholar ↗