163 citations · 203 across the 12 of their papers we have counts for
5 papers · 1 filter
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…