3 citations · 7 across the 34 of their papers we have counts for
12 papers · 2 filters
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.…