6 papers
Design and Experimental Validation of Sensorless 4-Channel Bilateral Teleoperation for Low-Cost Manipulators
Koki Yamane, Yunhan Li, Masashi Konosu +4
Teleoperation of low-cost manipulators is attracting increasing attention as a practical means of collecting demonstration data for imitation learning. However, most existing low-c…
A Reproducible and Physically Feasible Dynamic Parameter Identification Framework for a Low-Cost Robot Arm
Junji Oaki, Koki Yamane, Koki Inami +1
This paper presents a reproducible and physically feasible dynamic parameter identification framework for CRANE-X7, a low-cost robot arm driven by modular smart actuators. To impro…
Refinement of Accelerated Demonstrations via Incremental Iterative Reference Learning Control for Fast Contact-Rich Imitation Learning
Koki Yamane, Cristian C. Beltran-Hernandez, Steven Oh +2
Fast execution of contact-rich manipulation is critical for practical deployment, yet providing fast demonstrations for imitation learning (IL) remains challenging: humans cannot d…
Decoupled Scaling 4ch Bilateral Control on the Cartesian coordinate by 6-DoF Manipulator using Rotation Matrix
Koki Yamane, Sho Sakaino, Toshiaki Tsuji
Four-channel bilateral control is a method for achieving remote control with force feedback and adjustment operability by synchronizing the positions and forces of two manipulators…
Variable-Speed Teaching-Playback as Real-World Data Augmentation for Imitation Learning
Nozomu Masuya, Hiroshi Sato, Koki Yamane +3
Because imitation learning relies on human demonstrations in hard-to-simulate settings, the inclusion of force control in this method has resulted in a shortage of training data, e…
Motion Generation for Food Topping Challenge 2024: Serving Salmon Roe Bowl and Picking Fried Chicken
Koki Inami, Masashi Konosu, Koki Yamane +6
Although robots have been introduced in many industries, food production robots are yet to be widely employed because the food industry requires not only delicate movements to hand…