28 papers
Replanning Human-Robot Collaborative Tasks with Vision-Language Models via Semantic and Physical Dual-Correction
Taichi Kato, Takuya Kiyokawa, Namiko Saito +1
Human-robot collaborative assembly requires robots to interpret ambiguous corrective instructions while producing physically executable motions. Vision-language models (VLMs) provi…
Extreme Motion Generation via Hybrid Null-Space Control for Straight-Line Path Following
Xinyi Yuan, Weiwei Wan, Kensuke Harada
This work studies ``extreme motion generation'', which aims to maximize the Cartesian path length along a pre-defined trajectory within the manipulator's workspace. This objective…
Component Influence-Driven Fastener Reduction for Robotic Disassemblability-Aware Design Simplification
Takuya Kiyokawa, Tomoki Ishikura, Shingo Hamada +2
To accelerate automated remanufacturing, robotic disassembly must be considered during the product design phase. However, designers currently lack quantitative feedback to identify…
Differentiable Object Pose Connectivity Metrics for Regrasp Sequence Optimization
Liang Qin, Weiwei Wan, Kensuke Harada
Regrasp planning is often required when one pick-and-place cannot transfer an object from an initial pose to a goal pose while maintaining grasp feasibility. The main challenge is…
Industrial-Grade Robust Robot Vision for Screw Detection and Removal under Uneven Conditions
Tomoki Ishikura, Genichiro Matsuda, Takuya Kiyokawa +1
As the amount of used home appliances is expected to increase despite the decreasing labor force in Japan, there is a need to automate disassembling processes at recycling plants.…
Generalizable task-oriented object grasping through LLM-guided ontology and similarity-based planning
Hao Chen, Takuya Kiyokawa, Weiwei Wan +1
Task-oriented grasping (TOG) is more challenging than simple object grasping because it requires precise identification of object parts and careful selection of grasping areas to e…