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…