Zobrazeno 1 - 10
of 411
pro vyhledávání: '"WAN Weiwei"'
This study explores a pick-and-toss (PT) as an alternative to pick-and-place (PP), allowing a robot to extend its range and improve task efficiency. Although PT boosts efficiency in object arrangement, the placement environment critically affects the
Externí odkaz:
http://arxiv.org/abs/2411.04313
This paper proposes a control method to address the physical Human-Robot Interaction (pHRI) challenge in the context of hierarchical tasks. A common approach to managing hierarchical tasks is Hierarchical Quadratic Programming (HQP), which, however,
Externí odkaz:
http://arxiv.org/abs/2410.16922
Autor:
Isume, Vitor Hideyo, Kiyokawa, Takuya, Yamanobe, Natsuki, Domae, Yukiyasu, Wan, Weiwei, Harada, Kensuke
Publikováno v:
IEEE Robotics and Automation Letters, Volume 9, Issue 9, 2024, p.8122-8129
Inspired by traditional handmade crafts, where a person improvises assemblies based on the available objects, we formally introduce the Craft Assembly Task. It is a robotic assembly task that involves building an accurate representation of a given ta
Externí odkaz:
http://arxiv.org/abs/2407.14001
This work presents a framework for a robot with a multi-fingered hand to freely utilize daily tools, including functional parts like buttons and triggers. An approach heatmap is generated by selecting a functional finger, indicating optimal palm posi
Externí odkaz:
http://arxiv.org/abs/2401.11681
Autor:
Kiyokawa, Takuya, Harada, Kensuke, Wan, Weiwei, Ishikura, Tomoki, Miyaji, Naoya, Matsuda, Genichiro
This study tasckles the problem of many-objective sequence optimization for semi-automated robotic disassembly operations. To this end, we employ a many-objective genetic algorithm (MaOGA) algorithm inspired by the Non-dominated Sorting Genetic Algor
Externí odkaz:
http://arxiv.org/abs/2401.01817
Accurate robotic manipulation of test tubes in biology and medical industries is becoming increasingly important to address workforce shortages and improve worker safety. The detection and localization of test tubes are essential for the robots to su
Externí odkaz:
http://arxiv.org/abs/2308.10411
This paper addresses the challenge of industrial bin picking using entangled wire harnesses. Wire harnesses are essential in manufacturing but poses challenges in automation due to their complex geometries and propensity for entanglement. Our previou
Externí odkaz:
http://arxiv.org/abs/2306.14595
Autor:
Nagato, Shusei, Motoda, Tomohiro, Nishi, Takao, Damien, Petit, Kiyokawa, Takuya, Wan, Weiwei, Harada, Kensuke
To safely and efficiently extract an object from the clutter, this paper presents a bimanual manipulation planner in which one hand of the robot is used to slide the target object out of the clutter while the other hand is used to support the surroun
Externí odkaz:
http://arxiv.org/abs/2306.12649
This paper uses a mobile manipulator with a collaborative robotic arm to manipulate objects beyond the robot's maximum payload. It proposes a single-shot probabilistic roadmap-based method to plan and optimize manipulation motion with environment sup
Externí odkaz:
http://arxiv.org/abs/2302.13212
Industrial bin picking for tangled-prone objects requires the robot to either pick up untangled objects or perform separation manipulation when the bin contains no isolated objects. The robot must be able to flexibly perform appropriate actions based
Externí odkaz:
http://arxiv.org/abs/2302.08152