5 papers
DecompGrind: A Decomposition Framework for Robotic Grinding via Cutting-Surface Planning and Contact-Force Adaptation
Shunsuke Araki, Takumi Hachimine, Yuki Saito +3
Robotic grinding is widely used for shaping workpieces in manufacturing, but it remains difficult to automate this process efficiently. In particular, efficiently grinding workpiec…
Task-Relevant and Irrelevant Region-Aware Augmentation for Generalizable Vision-Based Imitation Learning in Agricultural Manipulation
Shun Hattori, Hikaru Sasaki, Takumi Hachimine +2
Vision-based imitation learning has shown promise for robotic manipulation; however, its generalization remains limited in practical agricultural tasks. This limitation stems from…
VoxelDiffusionCut: Non-destructive Internal-part Extraction via Iterative Cutting and Structure Estimation
Takumi Hachimine, Yuhwan Kwon, Cheng-Yu Kuo +2
Non-destructive extraction of the target internal part, such as batteries and motors, by cutting surrounding structures is crucial at recycling and disposal sites. However, the div…
Robotic System for Chemical Experiment Automation with Dual Demonstration of End-effector and Jig Operations
Hikaru Sasaki, Naoto Komeno, Takumi Hachimine +9
While robotic automation has demonstrated remarkable performance, such as executing hundreds of experiments continuously over several days, designing synchronized motions between t…
Cutting Sequence Diffuser: Sim-to-Real Transferable Planning for Object Shaping by Grinding
Takumi Hachimine, Jun Morimoto, Takamitsu Matsubara
Automating object shaping by grinding with a robot is a crucial industrial process that involves removing material with a rotating grinding belt. This process generates removal res…