176 citations · 716 across the 63 of their papers we have counts for
10 papers · 1 filter
Learning Efficient Policies for Picking Entangled Wire Harnesses: An Approach to Industrial Bin Picking
Xinyi Zhang, Yukiyasu Domae, Weiwei Wan +1
Wire harnesses are essential connecting components in manufacturing industry but are challenging to be automated in industrial tasks such as bin picking. They are long, flexible an…
A Topological Solution of Entanglement for Complex-shaped Parts in Robotic Bin-picking
Xinyi Zhang, Keisuke Koyama, Yukiyasu Domae +2
This paper addresses the problem of picking up only one object at a time avoiding any entanglement in bin-picking. To cope with a difficult case where the complex-shaped objects ar…
Assembly Planning by Recognizing a Graphical Instruction Manual
Issei Sera, Natsuki Yamanobe, Ixchel G. Ramirez-Alpizar +3
This paper proposes a robot assembly planning method by automatically reading the graphical instruction manuals design for humans. Essentially, the method generates an Assembly Tas…
Bimanual Shelf Picking Planner Based on Collapse Prediction
T. Motoda, D. Petit, W. Wan +1
In logistics warehouse, since many objects are randomly stacked on shelves, it becomes difficult for a robot to safely extract one of the objects without other objects falling from…
Challenges and Outlook in Robotic Manipulation of Deformable Objects
Jihong Zhu, Andrea Cherubini, Claire Dune +10
Deformable object manipulation (DOM) is an emerging research problem in robotics. The ability to manipulate deformable objects endows robots with higher autonomy and promises new a…
Controlling Pivoting Gait using Graph Model Predictive Control
Ang Zhang, Keisuke Koyama, Weiwei Wan +1
Pivoting gait is efficient for manipulating a big and heavy object with relatively small manipulating force, in which a robot iteratively tilts the object, rotates it around the ve…