Výsledky vyhledávání - "Tahara, Kenji"

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State Estimation and Environment Recognition for Articulated Structures via Proximity Sensors Distributed over the Whole Body

Autor: Iwao, Kengo, Arita, Hikaru, Tahara, Kenji

For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential for enviro

Externí odkaz: http://arxiv.org/abs/2409.12564

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Integrated Grasping Controller Leveraging Optical Proximity Sensors for Simultaneous Contact, Impact Reduction, and Force Control

Autor: Tokiwa, Shunsuke, Arita, Hikaru, Suzuki, Yosuke, Tahara, Kenji

Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to realize the

Externí odkaz: http://arxiv.org/abs/2407.05582

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Stochastic Approach for Modeling a Soft Robotic Finger with Creep Behavior

Autor: Honji, Sumitaka, Arita, Hikaru, Tahara, Kenji

Publikováno v: Advanced Robotics, vol. 37, no. 22, pp. 1471--1484, 2023

Soft robots have high adaptability and safeness which are derived from their softness, and therefore it is paid attention to use them in human society. However, the controllability of soft robots is not enough to perform dexterous behaviors when cons

Externí odkaz: http://arxiv.org/abs/2306.07035

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Smoothly Connected Preemptive Impact Reduction and Contact Impedance Control

Autor: Arita, Hikaru, Nakamura, Hayato, Fujiki, Takuto, Tahara, Kenji

This study proposes novel control methods that lower impact force by preemptive movement and smoothly transition to conventional contact impedance control. These suggested techniques are for force control-based robots and position/velocity control-ba

Externí odkaz: http://arxiv.org/abs/2212.03545

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