4 citations · 4 across the 16 of their papers we have counts for
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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…
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…
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…
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…
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…
WasteGAN: Data Augmentation for Robotic Waste Sorting through Generative Adversarial Networks
Alberto Bacchin, Leonardo Barcellona, Matteo Terreran +3
Robotic waste sorting poses significant challenges in both perception and manipulation, given the extreme variability of objects that should be recognized on a cluttered conveyor b…