176 citations · 716 across the 63 of their papers we have counts for
8 papers · 1 filter
Motion Planning through Demonstration to Deal with Complex Motions in Assembly Process
Yan Wang, Kensuke Harada, Weiwei Wan
Complex and skillful motions in actual assembly process are challenging for the robot to generate with existing motion planning approaches, because some key poses during the human…
Human-in-the-loop Robotic Manipulation Planning for Collaborative Assembly
Mohamed Raessa, Jimmy Chi Yin Chen, Weiwei Wan +1
This paper develops a robotic manipulation planner for human-robot collaborative assembly. Unlike previous methods which study an independent and fully AI-equipped autonomous syste…
Tethered Tool Manipulation Planning with Cable Maneuvering
Daniel Sanchez, Weiwei Wan, Kensuke Harada
In this paper, we present a planner for manipulating tethered tools using dual-armed robots. The planner generates robot motion sequences to maneuver a tool and its cable while avo…
Combined Task and Motion Planning for a Dual-arm Robot to Use a Suction Cup Tool
Hao Chen, Weiwei Wan, Kensuke Harada
This paper proposes a combined task and motion planner for a dual-arm robot to use a suction cup tool. The planner consists of three sub-planners -- A suction pose sub-planner and…
Planning Grasps for Assembly Tasks
Weiwei Wan, Kensuke Harada, Fumio Kanehiro
This paper develops model-based grasp planning algorithms for assembly tasks. It focuses on industrial end-effectors like grippers and suction cups, and plans grasp configurations…
Dual-arm Assembly Planning Considering Gravitational Constraints
Ryota Moriyama, Weiwei Wan, Kensuke Harada
Planning dual-arm assembly of more than three objects is a challenging Task and Motion Planning (TAMP) problem. The assembly planner shall consider not only the pose constraints of…