22 citations · 57 across the 13 of their papers we have counts for
13 papers
Adaptive Grasping of Moving Objects in Dense Clutter via Global-to-Local Detection and Static-to-Dynamic Planning
Hao Chen, Takuya Kiyokawa, Weiwei Wan +1
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of…
Task-Difficulty-Aware Efficient Object Arrangement Leveraging Tossing Motions
Takuya Kiyokawa, Mahiro Muta, Weiwei Wan +1
This study explores a pick-and-toss (PT) as an alternative to pick-and-place (PP), allowing a robot to extend its range and improve task efficiency. Although PT boosts efficiency i…
Component Selection for Craft Assembly Tasks
Vitor Hideyo Isume, Takuya Kiyokawa, Natsuki Yamanobe +3
Inspired by traditional handmade crafts, where a person improvises assemblies based on the available objects, we formally introduce the Craft Assembly Task. It is a robotic assembl…
Many-Objective-Optimized Semi-Automated Robotic Disassembly Sequences
Takuya Kiyokawa, Kensuke Harada, Weiwei Wan +3
This study tasckles the problem of many-objective sequence optimization for semi-automated robotic disassembly operations. To this end, we employ a many-objective genetic algorithm…
Probabilistic Slide-support Manipulation Planning in Clutter
Shusei Nagato, Tomohiro Motoda, Takao Nishi +4
To safely and efficiently extract an object from the clutter, this paper presents a bimanual manipulation planner in which one hand of the robot is used to slide the target object…
Efficiently Collecting Training Dataset for 2D Object Detection by Online Visual Feedback
Takuya Kiyokawa, Naoki Shirakura, Hiroki Katayama +2
Training deep-learning-based vision systems require the manual annotation of a significant number of images. Such manual annotation is highly time-consuming and labor-intensive. Al…
Category-Association Based Similarity Matching for Novel Object Pick-and-Place Task
Hao Chen, Takuya Kiyokawa, Weiwei Wan +1
Robotic pick-and-place has been researched for a long time to cope with uncertainty of novel objects and changeable environments. Past works mainly focus on learning-based methods…
Active Vapor-Based Robotic Wiper
Takuya Kiyokawa, Hiroki Katayama, Jun Takamatsu +1
This paper presents a method for estimating normals of mirrors and transparent objects challenging for cameras to recognize. We propose spraying water vapor onto mirror or transpar…
Soft-Jig: A Flexible Sensing Jig for Simultaneously Fixing and Estimating Orientation of Assembly Parts
Tatsuya Sakuma, Takuya Kiyokawa, Jun Takamatsu +2
For assembly tasks, it is essential to firmly fix target parts and to accurately estimate their poses. Several rigid jigs for individual parts are frequently used in assembly facto…
Robotic Waste Sorter with Agile Manipulation and Quickly Trainable Detector
Takuya Kiyokawa, Hiroki Katayama, Yuya Tatsuta +2
Owing to human labor shortages, the automation of labor-intensive manual waste-sorting is needed. The goal of automating waste-sorting is to replace the human role of robust detect…
Assembly Sequences Based on Multiple Criteria Against Products with Deformable Parts
Takuya Kiyokawa, Jun Takamatsu, Tsukasa Ogasawara
Aiming to generate easy-to-handle assembly sequences for robotic assembly, this study tackles assembly sequence generation by considering two tradeoff objectives: (1) insertion con…
Soft-Jig-Driven Assembly Operations
Takuya Kiyokawa, Tatsuya Sakuma, Jun Takamatsu +1
To design a general-purpose assembly robot system that can handle objects of various shapes, we propose a soft jig that fits to the shapes of assembly parts. The functionality of t…
A Learning-from-Observation Framework: One-Shot Robot Teaching for Grasp-Manipulation-Release Household Operations
Naoki Wake, Riku Arakawa, Iori Yanokura +4
A household robot is expected to perform various manipulative operations with an understanding of the purpose of the task. To this end, a desirable robotic application should provi…