39 citations · 40 across the 6 of their papers we have counts for
8 papers
Backward Layout Search for Sequence-Constrained Robotic Assembly
Xi Zhang, Jiancong Dai, Hao Chen +3
Robotic assembly layout planning must determine the assembly site and the initial pose of each part while ensuring collision-free execution of a prescribed assembly sequence. This…
HarvestPoint-ACT: Explicit Target Selection and Harvest-Point Conditioning for Robotic Fruit Harvesting under Occlusion
Hanying Hu, Weipeng Li, Yikun Huang +4
End-to-end imitation learning avoids hand-made robot motion for approaching and grasping, but the policy must still decide which fruit to pick and where to close the gripper. Occlu…
Soft Regrasping Tool Inspired by Jamming Gripper
Takuya Kiyokawa, Zhengtao Hu, Weiwei Wan +1
Regrasping on fixtures is a promising approach to reduce pose uncertainty in robotic assembly, but conventional rigid fixtures lack adaptability and require dedicated designs for e…
A Multi-Level Similarity Approach for Single-View Object Grasping: Matching, Planning, and Fine-Tuning
Hao Chen, Takuya Kiyokawa, Zhengtao Hu +2
Grasping unknown objects from a single view has remained a challenging topic in robotics due to the uncertainty of partial observation. Recent advances in large-scale models have l…
Bimanual Regrasp Planning and Control for Active Reduction of Object Pose Uncertainty
Ryuta Nagahama, Weiwei Wan, Zhengtao Hu +1
Precisely grasping an object is a challenging task due to pose uncertainties. Conventional methods have used cameras and fixtures to reduce object uncertainty. They are effective b…
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…