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10 papers · 1 filter
Tool Shape Optimization through Backpropagation of Neural Network
Kento Kawaharazuka, Toru Ogawa, Cota Nabeshima
When executing a certain task, human beings can choose or make an appropriate tool to achieve the task. This research especially addresses the optimization of tool shape for roboti…
Dynamic Task Control Method of a Flexible Manipulator Using a Deep Recurrent Neural Network
Kento Kawaharazuka, Toru Ogawa, Cota Nabeshima
The flexible body has advantages over the rigid body in terms of environmental contact thanks to its underactuation. On the other hand, when applying conventional control methods t…
Target-mass Grasping of Entangled Food using Pre-grasping & Post-grasping
Kuniyuki Takahashi, Naoki Fukaya, Avinash Ummadisingu
Food packing industries typically use seasonal ingredients with immense variety that factory workers manually pack. For small pieces of food picked by volume or weight that tend to…
A Tendon-driven Robot Gripper with Passively Switchable Underactuated Surface and its Physics Simulation Based Parameter Optimization
Tianyi Ko
In this paper, we propose a single-actuator gripper that can lift thin objects lying on a flat surface, in addition to the ability as a standard parallel gripper. The key is a craw…
Distributed Reinforcement Learning of Targeted Grasping with Active Vision for Mobile Manipulators
Yasuhiro Fujita, Kota Uenishi, Avinash Ummadisingu +3
Developing personal robots that can perform a diverse range of manipulation tasks in unstructured environments necessitates solving several challenges for robotic grasping systems.…
Visual Task Progress Estimation with Appearance Invariant Embeddings for Robot Control and Planning
Guilherme Maeda, Joni Väätäinen, Hironori Yoshida
One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards…