163 citations · 203 across the 12 of their papers we have counts for
12 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…
Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications
Stefan Escaida Navarro, Stephan Mühlbacher-Karrer, Hosam Alagi +5
Proximity perception is a technology that has the potential to play an essential role in the future of robotics. It can fulfill the promise of safe, robust, and autonomous systems…
A Topological Solution of Entanglement for Complex-shaped Parts in Robotic Bin-picking
Xinyi Zhang, Keisuke Koyama, Yukiyasu Domae +2
This paper addresses the problem of picking up only one object at a time avoiding any entanglement in bin-picking. To cope with a difficult case where the complex-shaped objects ar…
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…
A Mechanical Screwing Tool for 2-Finger Parallel Grippers -- Design, Optimization, and Manipulation Policies
Zhengtao Hu, Weiwei Wan, Keisuke Koyama +1
This paper develops a mechanical tool as well as its manipulation policies for 2-finger parallel robotic grippers. It primarily focuses on a mechanism that converts the gripping mo…
Functionally Divided Manipulation Synergy for Controlling Multi-fingered Hands
Kazuki Higashi, Keisuke Koyama, Ryuta Ozawa +3
Synergy supplies a practical approach for expressing various postures of a multi-fingered hand. However, a conventional synergy defined for reproducing grasping postures cannot per…
Planning to Build Soma Blocks Using a Dual-arm Robot
Hao Chen, Weiwei Wan, Keisuke Koyama +1
This paper presents a planner that can automatically find an optimal assembly sequence for a dual-arm robot to assemble the soma blocks. The planner uses the mesh model of objects…
Selecting and Designing Grippers for an Assembly Task in a Structured Approach
Jingren Xu, Weiwei Wan, Keisuke Koyama +2
In this paper, we present a structured approach to selecting and designing a set of grippers for an assembly task. Compared to current experience-based gripper design method, our a…