176 citations · 716 across the 63 of their papers we have counts for
7 papers · 1 filter
Robot Introspection via Wrench-based Action Grammars
Juan Rojas, Zhengjie Huang, Shuangqi Luo +3
Robotic failure is all too common in unstructured robot tasks. Despite well designed controllers, robots often fail due to unexpected events. How do robots measure unexpected event…
Robot Contact Task State Estimation via Action Grammars
Juan Rojas, Zhengjie Huang, Kensuke Harada
Uncertainty is a major difficulty in endowing robots with autonomy. Robots often fail due to unexpected events. In robot contact tasks are often design to empirically look for forc…
Assembly Sequence Planning for Motion Planning
Weiwei Wan, Kensuke Harada, Kazuyuki Nagata
This paper develops a planner to find an optimal assembly sequence to assemble several objects. The input to the planner is the mesh models of the objects, the relative poses betwe…
A Mid-level Planning System for Object Reorientation
Weiwei Wan, Hisashi Igawa, Kensuke Harada +4
This paper presents a mid-level planning system for object reorientation. It includes a grasp planner, a placement planner, and a regrasp sequence solver. Given the initial and goa…
Iterative Visual Recognition for Learning Based Randomized Bin-Picking
Kensuke Harada, Weiwei Wan, Tokuo Tsuji +3
This paper proposes a iterative visual recognition system for learning based randomized bin-picking. Since the configuration on randomly stacked objects while executing the current…
Initial Experiments on Learning-Based Randomized Bin-Picking Allowing Finger Contact with Neighboring Objects
Kensuke Harada, Weiwei Wan, Tokuo Tsuji +3
This paper proposes a novel method for randomized bin-picking based on learning. When a two-fingered gripper tries to pick an object from the pile, a finger often contacts a neighb…