3 citations · 7 across the 34 of their papers we have counts for
37 papers
ARTiS: An Adaptive Robotic Gripper for Enhanced Tool Manipulation in Disassembly Applications
Roman Mykhailyshyn, Yukiyasu Domae, Kensuke Harada
Grasping and holding tools while using them presents a considerable challenge not only for robots but also for humans. Such a challenge is particularly noticeable in processes invo…
Planning a Shared Modular Fixture Layout Across Robotic Disassembly Stages
Haohui Pan, Takuya Kiyokawa, Kensuke Harada
Stable support remains challenging in robotic disassembly of irregularly shaped products. As components are progressively removed, the available support surfaces, mass distribution…
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…
Affordance-Guided Enveloping Grasp Demonstration Toward Non-destructive Disassembly of Pinch-Infeasible Mating Parts
Masaki Tsutsumi, Takuya Kiyokawa, Gen Sako +1
Robotic disassembly of complex mating components often renders pinch grasping infeasible, necessitating multi-fingered enveloping grasps. However, visual occlusions and geometric c…
Designing and Validating a Self-Aligning Tool Changer for Modular Reconfigurable Manipulation Robots
Mahfudz Maskur, Takuya Kiyokawa, Kensuke Harada
Modular reconfigurable robots require reliable mechanisms for automated module exchange, but conventional rigid active couplings often fail due to inevitable positioning and orient…
Gait Generation Balancing Joint Load and Mobility for Legged Modular Robots with Easily Detachable Joints
Kennosuke Chihara, Takuya Kiyokawa, Kensuke Harada
While modular robots offer versatility, excessive joint torque during locomotion poses a significant risk of mechanical failure, especially for detachable joints. To address this,…
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…
Replaceable Bit-based Gripper for Picking Cluttered Food Items
Prashant Kumar, Yukiyasu Domae, Weiwei Wan +1
The food packaging industry goes through changes in food items and their weights quite rapidly. These items range from easy-to-pick, single-piece food items to flexible, long and c…
Prompt2Craft: Generating Functional Craft Assemblies with LLMs
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…
Learning-based Cooperative Robotic Paper Wrapping: A Unified Control Policy with Residual Force Control
Rewida Ali, Cristian C. Beltran-Hernandez, Weiwei Wan +1
Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordin…
Hierarchical Planning and Scheduling for Reconfigurable Multi-Robot Disassembly Systems under Structural Constraints
Takuya Kiyokawa, Tomoki Ishikura, Shingo Hamada +2
This study presents a system integration approach for planning schedules, sequences, tasks, and motions for reconfigurable robots to automatically disassemble constrained structure…
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…
Shell-Type Soft Jig for Holding Objects during Disassembly
Takuya Kiyokawa, Ryunosuke Takebayashi, Kensuke Harada
This study addresses a flexible holding tool for robotic disassembly. We propose a shell-type soft jig that securely and universally holds objects, mitigating the risk of component…
Affordance-Guided Dual-Armed Disassembly Teleoperation for Mating Parts
Gen Sako, Takuya Kiyokawa, Kensuke Harada +3
Robotic non-destructive disassembly of mating parts remains challenging due to the need for flexible manipulation and the limited visibility of internal structures. This study pres…
Modular Vacuum-Based Fixturing System for Adaptive Disassembly Workspace Integration
Haohui Pan, Takuya Kiyokawa, Tomoki Ishikura +3
The disassembly of small household appliances poses significant challenges due to their complex and curved geometries, which render traditional rigid fixtures inadequate. In this p…
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…
Learning from Planned Data to Improve Robotic Pick-and-Place Planning Efficiency
Liang Qin, Weiwei Wan, Jun Takahashi +3
This work proposes a learning method to accelerate robotic pick-and-place planning by predicting shared grasps. Shared grasps are defined as grasp poses feasible to both the initia…
IKSel: Selecting Good Seed Joint Values for Fast Numerical Inverse Kinematics Iterations
Xinyi Yuan, Weiwei Wan, Kensuke Harada
This paper revisits the numerical inverse kinematics (IK) problem, leveraging modern computational resources and refining the seed selection process to develop a solver that is com…
Cooking Task Planning using LLM and Verified by Graph Network
Ryunosuke Takebayashi, Vitor Hideyo Isume, Takuya Kiyokawa +2
Cooking tasks remain a challenging problem for robotics due to their complexity. Videos of people cooking are a valuable source of information for such task, but introduces a lot o…
Robotic Paper Wrapping by Learning Force Control
Hiroki Hanai, Takuya Kiyokawa, Weiwei Wan +1
Robotic packaging using wrapping paper poses significant challenges due to the material's complex deformation properties. The packaging process itself involves multiple steps, prim…