3 citations · 7 across the 34 of their papers we have counts for
17 papers · 1 filter
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…
Bimanual Regrasp Planning and Control for Active Reduction of Object Pose Uncertainty
Ryuta Nagahama, Weiwei Wan, Zhengtao Hu +1
Precisely grasping an object is a challenging task due to pose uncertainties. Conventional methods have used cameras and fixtures to reduce object uncertainty. They are effective b…
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…
Learning to Push, Group, and Grasp: A Diffusion Policy Approach for Multi-Object Delivery
Takahiro Yonemaru, Weiwei Wan, Tatsuki Nishimura +1
Simultaneously grasping and delivering multiple objects can significantly enhance robotic work efficiency and has been a key research focus for decades. The primary challenge lies…
Temperature Driven Multi-modal/Single-actuated Soft Finger
Prashant Kumar, Weiwei Wan, Kensuke Harada
Soft pneumatic fingers are of great research interest. However, their significant potential is limited as most of them can generate only one motion, mostly bending. The conventiona…
Dexterous Manipulation of Deformable Objects via Pneumatic Gripping: Lifting by One End
Roman Mykhailyshyn, Jonathan Lee, Mykhailo Mykhailyshyn +2
Manipulating deformable objects in robotic cells is often costly and not widely accessible. However, the use of localized pneumatic gripping systems can enhance accessibility. Curr…