10 citations · 21 across the 9 of their papers we have counts for
7 papers · 1 filter
SCU-Hand with Integrated Single-Sheet Valve: A Funnel-Shaped Robotic Hand for Milligram-Scale Powder Handling
Tomoya Takahashi, Yusaku Nakajima, Cristian Camilo Beltran-Hernandez +5
Laboratory Automation (LA) has the potential to accelerate solid-state materials discovery by enabling continuous robotic operation without human intervention. While robotic system…
Pose Estimation of a Cable-Driven Serpentine Manipulator Utilizing Intrinsic Dynamics via Physical Reservoir Computing
Kazutoshi Tanaka, Tomoya Takahashi, Masashi Hamaya
Cable-driven serpentine manipulators hold great potential in unstructured environments, offering obstacle avoidance, multi-directional force application, and a lightweight design.…
Visuo-Tactile Zero-Shot Object Recognition with Vision-Language Model
Shiori Ueda, Atsushi Hashimoto, Masashi Hamaya +2
Tactile perception is vital, especially when distinguishing visually similar objects. We propose an approach to incorporate tactile data into a Vision-Language Model (VLM) for visu…
An Electromagnetism-Inspired Method for Estimating In-Grasp Torque from Visuotactile Sensors
Yuni Fuchioka, Masashi Hamaya
Tactile sensing has become a popular sensing modality for robot manipulators, due to the promise of providing robots with the ability to measure the rich contact information that g…
Symmetry-aware Reinforcement Learning for Robotic Assembly under Partial Observability with a Soft Wrist
Hai Nguyen, Tadashi Kozuno, Cristian C. Beltran-Hernandez +1
This study tackles the representative yet challenging contact-rich peg-in-hole task of robotic assembly, using a soft wrist that can operate more safely and tolerate lower-frequenc…
Vision-Language Interpreter for Robot Task Planning
Keisuke Shirai, Cristian C. Beltran-Hernandez, Masashi Hamaya +6
Large language models (LLMs) are accelerating the development of language-guided robot planners. Meanwhile, symbolic planners offer the advantage of interpretability. This paper pr…
An analytical diabolo model for robotic learning and control
Felix von Drigalski, Devwrat Joshi, Takayuki Murooka +3
In this paper, we present a diabolo model that can be used for training agents in simulation to play diabolo, as well as running it on a real dual robot arm system. We first derive…