4 citations · 4 across the 16 of their papers we have counts for
9 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…
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…