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Morphology Specific Stepwise Learning of In-Hand Manipulation With a Four-Fingered Hand

Autor: Satoshi Funabashi, Alexander Schmitz, Shun Ogasa, Shigeki Sugano

Publikováno v: IEEE Transactions on Industrial Informatics. 16:433-441

In past research, in-hand object manipulation for various sized and shaped objects has been achieved. However, the network had to be trained for each different motion. Training data takes time to acquire and increases the hardware load, thereby incre

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::d220c84c0b2f1f0a093175047b0b1e23
https://doi.org/10.1109/tii.2019.2893713

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Stable In-Grasp Manipulation with a Low-Cost Robot Hand by Using 3-Axis Tactile Sensors with a CNN

Autor: Tetsuya Ogata, Tomoki Isobe, Shun Ogasa, Tito Pradhono Tomo, Shigeki Sugano, Alexander Schmitz, Satoshi Funabashi

Publikováno v: IROS

The use of tactile information is one of the most important factors for achieving stable in-grasp manipulation. Especially with low-cost robotic hands that provide low-precision control, robust in-grasp manipulation is challenging. Abundant tactile i

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::f0561b783258f119514f16c29ebf356a
https://doi.org/10.1109/iros45743.2020.9341362

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Variable In-Hand Manipulations for Tactile-Driven Robot Hand via CNN-LSTM

Autor: Tetsuya Ogata, Shigeki Sugano, Tito Pradhono Tomo, Shun Ogasa, Alexander Schmitz, Satoshi Funabashi, Tomoki Isobe

Publikováno v: IROS

Performing various in-hand manipulation tasks, without learning each individual task, would enable robots to act more versatile, while reducing the effort for training. However, in general it is difficult to achieve stable in-hand manipulation, becau

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::5ff4e51467a7fe43dbba7f9fd390e339
https://doi.org/10.1109/iros45743.2020.9341484

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Sequential clustering for tactile image compression to enable direct adaptive feedback

Autor: Alexander Schmitz, Andreas Geier, Gang Yan, Shun Ogasa, Tito Pradhono Tomo, Sophon Somlor, Shigeki Sugano

Publikováno v: IROS

The sense of touch is often crucial for humans to perform manipulation tasks. Providing tactile feedback during teleoperation or for users of prosthetic devices would be beneficial. However, the representation of tactile information constitutes a maj

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::2ffcfcb39f8308067ffc9b53dacffa86
https://doi.org/10.1109/iros40897.2019.8968493

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Object Recognition Through Active Sensing Using a Multi-Fingered Robot Hand with 3D Tactile Sensors

Autor: Tito Pradhono Torno, Shu Morikuni, Shun Ogasa, Andreas Geier, Sophon Somlor, Shigeki Sugano, Satoshi Funabashi, Alexander Schmitz

Publikováno v: IROS

This paper investigates tactile object recognition with relatively densely distributed force vector measurements and evaluates what kind of tactile information is beneficial for object recognition. The uSkin tactile sensors are embedded in an Allegro

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::1cad5d31b5da3dbd914563847222fd3e
https://doi.org/10.1109/iros.2018.8594159

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A study on fingertip designs and their influences on performing stable prehension for robot hands

Autor: Shun Ogasa, Keung Or, Alexander Schmitz, Shigeki Sugano, Satoshi Funabashi, Shu Morikuni

Publikováno v: Humanoids

This research aims to clarify and analyze potential factors in fingertip designs and conditions which may affect prehension performances in addition to the control strategy. In this paper, four factors of fingertip designs and conditions are consider

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::211a12496a94f16f689300cbf6286854
https://doi.org/10.1109/humanoids.2016.7803361

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