1 citations · 2 across the 6 of their papers we have counts for
9 papers
A Dual-Arm Robot that Manipulates Heavy Plates Cooperatively with a Vacuum Lifter
Shogo Hayakawa, Weiwei Wan, Keisuke Koyama +1
A vacuum lifter is widely used to hold and pick up large, heavy, and flat objects. Conventionally, when using a vacuum lifter, a human worker watches the state of a running vacuum…
Controlling Pivoting Gait using Graph Model Predictive Control
Ang Zhang, Keisuke Koyama, Weiwei Wan +1
Pivoting gait is efficient for manipulating a big and heavy object with relatively small manipulating force, in which a robot iteratively tilts the object, rotates it around the ve…
Error Identification and Recovery in Robotic Snap Assembly
Yusuke Hayami, Weiwei Wan, Keisuke Koyama +3
Existing methods for predicting robotic snap joint assembly cannot predict failures before their occurrence. To address this limitation, this paper proposes a method for predicting…
A Dual-arm Robot that Autonomously Lifts Up and Tumbles Heavy Plates Using Crane Pulley Blocks
Shogo Hayakawa, Weiwei Wan, Keisuke Koyama +1
This paper develops a planner that plans the action sequences and motion for a dual-arm robot to lift up and flip heavy plates using crane pulley blocks. The problem is motivated b…
Multi-Pen Robust Robotic 3D Drawing Using Closed-Loop Planning
Ruishuang Liu, Weiwei Wan, Keisuke Koyama +1
This paper develops a flexible and robust robotic system for autonomous drawing on 3D surfaces. The system takes 2D drawing strokes and a 3D target surface (mesh or point clouds) a…
Four-Arm Collaboration: Two Dual-Arm Robots Work Together to Maneuver Tethered Tools
Daniel Sanchez, Weiwei Wan, Keisuke Koyama +1
In this paper, we present a planner for a master dual-arm robot to manipulate tethered tools with an assistant dual-arm robot's help. The assistant robot provides assistance to the…