3 papers
cs.RO2026
Learning Stable In-Grasp Manipulation in a Non-Dropping Action Space
Ha Thang Long Doan, Hikaru Arita, Kazuto Nakashima +1
Traditionally, dexterous manipulation controllers are designed using analytic models constrained by strong assumptions about the hand and the objects being manipulated. Reinforceme…
cs.RO2024
State Estimation and Environment Recognition for Articulated Structures via Proximity Sensors Distributed over the Whole Body
Kengo Iwao, Hikaru Arita, Kenji Tahara
For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with…
cs.RO2024
Integrated Grasping Controller Leveraging Optical Proximity Sensors for Simultaneous Contact, Impact Reduction, and Force Control
Shunsuke Tokiwa, Hikaru Arita, Yosuke Suzuki +1
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are nar…