176 citations · 716 across the 63 of their papers we have counts for
14 papers · 1 filter
Planning a Sequence of Base Positions for a Mobile Manipulator to Perform Multiple Pick-and-Place Tasks
Jingren Xu, Yukiyasu Domae, Toshio Ueshiba +2
In this paper, we present a planner that plans a sequence of base positions for a mobile manipulator to efficiently and robustly collect objects stored in distinct trays. We achiev…
Multi-Pen Robust Robotic 3D Drawing Using Closed-Loop Planning
Ruishuang Liu, Weiwei Wan, Keisuke Koyama +1
This paper develops a flexible and robust robotic system for autonomous drawing on 3D surfaces. The system takes 2D drawing strokes and a 3D target surface (mesh or point clouds) a…
Four-Arm Collaboration: Two Dual-Arm Robots Work Together to Maneuver Tethered Tools
Daniel Sanchez, Weiwei Wan, Keisuke Koyama +1
In this paper, we present a planner for a master dual-arm robot to manipulate tethered tools with an assistant dual-arm robot's help. The assistant robot provides assistance to the…
Variable Compliance Control for Robotic Peg-in-Hole Assembly: A Deep Reinforcement Learning Approach
Cristian C. Beltran-Hernandez, Damien Petit, Ixchel G. Ramirez-Alpizar +1
Industrial robot manipulators are playing a more significant role in modern manufacturing industries. Though peg-in-hole assembly is a common industrial task which has been extensi…
A Mechanical Screwing Tool for 2-Finger Parallel Grippers -- Design, Optimization, and Manipulation Policies
Zhengtao Hu, Weiwei Wan, Keisuke Koyama +1
This paper develops a mechanical tool as well as its manipulation policies for 2-finger parallel robotic grippers. It primarily focuses on a mechanism that converts the gripping mo…
Development of a Shape-memorable Adaptive Pin Array Fixture
Peihao Shi, Zhengtao Hu, Kazuyuki Nagata +3
This paper proposes an adaptive pin-array fixture. The key idea of this research is to use the shape-memorable mechanism of pin array to fix multiple different shaped parts with co…