5 papers
Reproducible Dynamic Parameter Identification for a Low-Cost Robot Arm: A Positive-Definiteness Audit for Model Acceptance
Junji Oaki, Koki Yamane, Koki Inami +1
Dynamic parameter identification of low-cost robot arms is challenging because limited sensing and drivetrain nonidealities can yield models that predict measured torques well but…
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…
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…
Motion ReTouch: Motion Modification Using Four-Channel Bilateral Control
Koki Inami, Sho Sakaino, Toshiaki Tsuji
Recent research has demonstrated the usefulness of imitation learning in autonomous robot operation. In particular, teaching using four-channel bilateral control, which can obtain…
Loss Function Considering Dead Zone for Neural Networks
Koki Inami, Koki Yamane, Sho Sakaino
It is important to reveal the inverse dynamics of manipulators to improve control performance of model-based control. Neural networks (NNs) are promising techniques to represent co…