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06/02/2021
A Topological Solution of Entanglement for Complex-shaped Parts in Robotic Bin-picking
This paper addresses the problem of picking up only one object at a time...
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06/01/2021
Assembly Planning by Recognizing a Graphical Instruction Manual
This paper proposes a robot assembly planning method by automatically re...
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04/19/2021
Controlling Pivoting Gait using Graph Model Predictive Control
Pivoting gait is efficient for manipulating a big and heavy object with ...
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03/10/2021
Robotic Imitation of Human Assembly Skills Using Hybrid Trajectory and Force Learning
Robotic assembly tasks involve complex and low-clearance insertion traje...
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01/25/2021
Planning to Repose Long and Heavy Objects Considering a Combination of Regrasp and Constrained Drooping
This paper presents a hierarchical motion planner for planning the manip...
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01/23/2021
A Dual-arm Robot that Autonomously Lifts Up and Tumbles Heavy Plates Using Crane Pulley Blocks
This paper develops a planner that plans the action sequences and motion...
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10/01/2020
Planning a Sequence of Base Positions for a Mobile Manipulator to Perform Multiple Pick-and-Place Tasks
In this paper, we present a planner that plans a sequence of base positi...
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09/30/2020
Multi-Pen Robust Robotic 3D Drawing Using Closed-Loop Planning
This paper develops a flexible and robust robotic system for autonomous ...
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09/29/2020
Four-Arm Collaboration: Two Dual-Arm Robots Work Together to Maneuver Tethered Tools
In this paper, we present a planner for a master dual-arm robot to manip...
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08/24/2020
Variable Compliance Control for Robotic Peg-in-Hole Assembly: A Deep Reinforcement Learning Approach
Industrial robot manipulators are playing a more significant role in mod...
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06/18/2020
A Mechanical Screwing Tool for 2-Finger Parallel Grippers – Design, Optimization, and Manipulation Policies
This paper develops a mechanical tool as well as its manipulation polici...
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05/20/2020
Development of a Shape-memorable Adaptive Pin Array Fixture
This paper proposes an adaptive pin-array fixture. The key idea of this ...
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05/07/2020
Arranging Test Tubes in Racks Using Combined Task and Motion Planning
The paper develops a robotic manipulation system to treat the pressing n...
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03/26/2020
Integrating Combined Task and Motion Planning with Compliant Control
Planning a motion for inserting pegs remains an open problem. The diffic...
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03/26/2020
Functionally Divided Manipulation Synergy for Controlling Multi-fingered Hands
Synergy supplies a practical approach for expressing various postures of...
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03/09/2020
Selecting and Designing Grippers for an Assembly Task in a Structured Approach
In this paper, we present a structured approach of selecting and designi...
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03/05/2020
Team O2AS at the World Robot Summit 2018: An Approach to Robotic Kitting and Assembly Tasks using General Purpose Grippers and Tools
We propose a versatile robotic system for kitting and assembly tasks whi...
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03/02/2020
Planning to Build Soma Blocks Using a Dual-arm Robot
This paper presents a planner that can automatically find an optimal ass...
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03/02/2020
Learning Contact-Rich Manipulation Tasks with Rigid Position-Controlled Robots: Learning to Force Control
To fully realize industrial automation, it is indispensable to give the ...
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01/22/2020
Planning an Efficient and Robust Base Sequence for a Mobile Manipulator Performing Multiple Pick-and-place Tasks
In this paper, we address efficiently and robustly collecting objects st...
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10/04/2019
Motion Planning through Demonstration to Deal with Complex Motions in Assembly Process
Complex and skillful motions in actual assembly process are challenging ...
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09/25/2019
Human-in-the-loop Robotic Manipulation Planning for Collaborative Assembly
This paper develops a robotic manipulation planner for human-robot colla...
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09/24/2019
Tethered Tool Manipulation Planning with Cable Maneuvering
In this paper, we present a planner for manipulating tethered tools usin...
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08/31/2019
Combined Task and Motion Planning for a Dual-arm Robot to Use a Suction Cup Tool
This paper proposes a combined task and motion planner for a dual-arm ro...
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03/05/2019
Planning Grasps for Assembly Tasks
This paper develops model-based grasp planning algorithms for assembly t...
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03/02/2019
Dual-arm Assembly Planning Considering Gravitational Constraints
Planning dual-arm assembly of more than three objects is a challenging T...
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02/25/2019
Quickly Inserting Pegs into Uncertain Holes using Multi-view Images and Deep Network Trained on Synthetic Data
This paper uses robots to assemble pegs into holes on surfaces with diff...
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02/25/2019
Designing a Mechanical Tool for Robots with 2-Finger Parallel Grippers
This work designs a mechanical tool for robots with 2-finger parallel gr...
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12/15/2018
Arm Manipulation Planning of Tethered Tools with the Help of a Tool Balancer
Robotic manipulation of tethered tools is widely seen in robotic work ce...
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12/08/2018
Preparatory Manipulation Planning using Automatically Determined Single and Dual Arms
This paper presents a manipulation planning algorithm for robots to reor...
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10/24/2018
Deep Learning Scooping Motion using Bilateral Teleoperations
We present bilateral teleoperation system for task learning and robot mo...
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10/14/2018
Regrasp Planning Considering Bipedal Stability Constraints
This paper presents a Center of Mass (CoM) based manipulation and regras...
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09/12/2018
A Hand Combining Two Simple Grippers to Pick up and Arrange Objects for Assembly
This paper proposes a novel robotic hand design for assembly tasks. The ...
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07/30/2018
A Double Jaw Hand Designed for Multi-object Assembly
This paper presents a double jaw hand for industrial assembly. The hand ...
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05/23/2018
Tool Exchangeable Grasp/Assembly Planner
This paper proposes a novel assembly planner for a manipulator which can...
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05/23/2018
Learning Based Industrial Bin-picking Trained with Approximate Physics Simulator
In this research, we tackle the problem of picking an object from random...
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05/22/2018
