15 citations · 56 across the 14 of their papers we have counts for
14 papers
Two-fingered Hand with Gear-type Synchronization Mechanism with Magnet for Improved Small and Offset Objects Grasping: F2 Hand
Naoki Fukaya, Avinash Ummadisingu, Kuniyuki Takahashi +2
A problem that plagues robotic grasping is the misalignment of the object and gripper due to difficulties in precise localization, actuation, etc. Under-actuated robotic hands with…
Precise Well-plate Placing Utilizing Contact During Sliding with Tactile-based Pose Estimation for Laboratory Automation
Sameer Pai, Kuniyuki Takahashi, Shimpei Masuda +3
Micro well-plates are an apparatus commonly used in chemical and biological experiments that are a few centimeters thick and contain wells or divets. In this paper, we aim to solve…
Goal-Image Conditioned Dynamic Cable Manipulation through Bayesian Inference and Multi-Objective Black-Box Optimization
Kuniyuki Takahashi, Tadahiro Taniguchi
To perform dynamic cable manipulation to realize the configuration specified by a target image, we formulate dynamic cable manipulation as a stochastic forward model. Then, we prop…
Sim-to-Real Transfer of Compliant Bipedal Locomotion on Torque Sensor-Less Gear-Driven Humanoid
Shimpei Masuda, Kuniyuki Takahashi
Sim-to-real is a mainstream method to cope with the large number of trials needed by typical deep reinforcement learning methods. However, transferring a policy trained in simulati…
Cluttered Food Grasping with Adaptive Fingers and Synthetic-Data Trained Object Detection
Avinash Ummadisingu, Kuniyuki Takahashi, Naoki Fukaya
The food packaging industry handles an immense variety of food products with wide-ranging shapes and sizes, even within one kind of food. Menus are also diverse and change frequent…
Target-mass Grasping of Entangled Food using Pre-grasping & Post-grasping
Kuniyuki Takahashi, Naoki Fukaya, Avinash Ummadisingu
Food packing industries typically use seasonal ingredients with immense variety that factory workers manually pack. For small pieces of food picked by volume or weight that tend to…
Collision-free Path Planning in the Latent Space through cGANs
Tomoki Ando, Hiroki Mori, Ryota Torishima +4
We show a new method for collision-free path planning by cGANs by mapping its latent space to only the collision-free areas of the robot joint space. Our method simply provides thi…
Learning-based Collision-free Planning on Arbitrary Optimization Criteria in the Latent Space through cGANs
Tomoki Ando, Hiroto Iino, Hiroki Mori +5
We propose a new method for collision-free planning using Conditional Generative Adversarial Networks (cGANs) to transform between the robot's joint space and a latent space that c…
Uncertainty-Aware Self-Supervised Target-Mass Grasping of Granular Foods
Kuniyuki Takahashi, Wilson Ko, Avinash Ummadisingu +1
Food packing industry workers typically pick a target amount of food by hand from a food tray and place them in containers. Since menus are diverse and change frequently, robots mu…
Deep Gated Multi-modal Learning: In-hand Object Pose Changes Estimation using Tactile and Image Data
Tomoki Anzai, Kuniyuki Takahashi
For in-hand manipulation, estimation of the object pose inside the hand is one of the important functions to manipulate objects to the target pose. Since in-hand manipulation tends…
Invisible Marker: Automatic Annotation of Segmentation Masks for Object Manipulation
Kuniyuki Takahashi, Kenta Yonekura
We propose a method to annotate segmentation masks accurately and automatically using invisible marker for object manipulation. Invisible marker is invisible under visible (regular…
Deep Visuo-Tactile Learning: Estimation of Tactile Properties from Images
Kuniyuki Takahashi, Jethro Tan
Estimation of tactile properties from vision, such as slipperiness or roughness, is important to effectively interact with the environment. These tactile properties help us decide…
Map-based Multi-Policy Reinforcement Learning: Enhancing Adaptability of Robots by Deep Reinforcement Learning
Ayaka Kume, Eiichi Matsumoto, Kuniyuki Takahashi +2
In order for robots to perform mission-critical tasks, it is essential that they are able to quickly adapt to changes in their environment as well as to injuries and or other bodil…
Interactively Picking Real-World Objects with Unconstrained Spoken Language Instructions
Jun Hatori, Yuta Kikuchi, Sosuke Kobayashi +5
Comprehension of spoken natural language is an essential component for robots to communicate with human effectively. However, handling unconstrained spoken instructions is challeng…