A5084860488- Robot Manipulation and Learning
- Robotic Mechanisms and Dynamics
- Advanced Vision and Imaging
- Soft Robotics and Applications
- Teleoperation and Haptic Systems
- Robotics and Automated Systems
- Robotic Path Planning Algorithms
- Image Processing Techniques and Applications
- Robotic Locomotion and Control
- Robotics and Sensor-Based Localization
- Hand Gesture Recognition Systems
- Educational Robotics and Engineering
- Gaze Tracking and Assistive Technology
- Image and Video Stabilization
- Industrial Vision Systems and Defect Detection
- Modular Robots and Swarm Intelligence
- Tactile and Sensory Interactions
- Optical measurement and interference techniques
- Muscle activation and electromyography studies
- CCD and CMOS Imaging Sensors
- Advanced Measurement and Detection Methods
- Winter Sports Injuries and Performance
- Sports Dynamics and Biomechanics
- Video Analysis and Summarization
- Interactive and Immersive Displays
Chiba University
2016-2025
State Key Laboratory of Robotics and Systems
2022
University of Nevada, Reno
2022
Robotics Research (United States)
2022
Dalian Maritime University
2022
Chiba Institute of Technology
2022
Harbin Institute of Technology
2022
Shanghai Jiao Tong University
2022
Chinese University of Hong Kong
2022
Koto Hospital
2019
A new type of tactile sensor using pressure-conductive rubber with stitched electrical wires is presented. The thin and flexible can cover three-dimensional objects. Since the adopts a single-layer composite structure, durable respect to external force. In order verify effectiveness this sensor, we performed an experiment in which four-fingered robot hand equipped sensors grasped sphere column. circuit, characteristics are described. control system experimental results also
As the scale of power grid continues to expand, human-based inspection method struggles meet needs efficient operation and maintenance. Currently, existing UAV system in market generally has short endurance time, high flight requirements, low degree autonomous flight, accuracy intelligent identification, slow generation reports, other problems. In view these shortcomings, this paper designs an based on self-developed UAVs, including planning paths, sliding film control algorithms, mobile...
In this paper we introduce a newly developed high-speed multi-fingered robotic hand. The hand has 8-joints and 3-fingers. A small harmonic drive gear high-power mini actuator are fitted in each finger link, strain gauge sensor is joint. weight of the module only 0.8 kg, but motion grasping possible. can close its joints at 180 deg per 0.1 s, fingertips have an output force about 28 N. system controlled by massively parallel vision system. Experimental results shown which falling object was caught
In most previous studies, it has been difficult for a robot hand to regrasp target quickly because its motion was static or quasi-static, in constant contact state. order achieve high-speed regrasping, we propose new strategy which call dynamic regrasping. this strategy, the regrasping task is achieved by throwing up and catching it. paper, based on visual feedback presented experimental results using multifingered vision system are shown. A cylinder chosen as specific example of with...
With the development of technology, unmanned aerial vehicles (UAVs) are playing an increasingly important role in inspection high-voltage power transmission line. The traditional method relies on operator to manually control drone for inspection. Although many companies using real-time dynamic carrier phase differencing technology achieve high-precision positioning UAVs, when UAVs fly autonomously at high altitudes photograph specific objects, objects tend deviate from center picture. To...
To achieve a human like grasping with multi- fingered robot hand, the force should be controlled without using information from grasped object such as its weight and friction coefficient. In this study, we propose method for detecting slip of output Center Pressure (CoP) tactile sensors. CoP sensors can measure center position distributed load total applied on surface sensor, within 1 ms. These are arranged fingers their effectiveness is confirmed in tests detection during grasping. Finally,...
In this paper the robotic throwing task is considered with goal of achieving high-speed dynamic manipulation. We propose a kinetic chain approach for swing motion focused on torque transmission. addition release method using hand analyzed ball control. Experimental results are shown in which manipulator throws toward target.
Most current unmanned aerial vehicles (UAVs) primarily use a global positioning system (GPS) and an inertial measurement unit (IMU) for position estimation. However, compared to birds insects, the abilities of UAVs recognize environment are not sufficient. To achieve autonomous flight UAVs, like birds, should be able process respond information from their surrounding immediately. Therefore, in this paper, we propose direct visual servoing using onboard high-speed monocular camera. There two...
In recent years, multi-rotor unmanned aerial vehicles (UAV) have been widely applied for various applications; however, they are yet to be as commonly utilized in certain industrial transportation applications. Thus, this work designed and implemented a reference model-based integral sliding mode control (SMC) method the velocity controller of UAV. The was compared with an SMC scheme, then modeling robustness were verified. Finally, proposed six-rotor Three experiments involving...
In this paper a robotic batting algorithm using high-speed arm and stereo vision is proposed. With strategy, the desired trajectory of manipulator generated so that both swing motion tracking combine to meet ball squarely with bat. As result can follow while swinging bat at high speed even if it difficult predict ball. Experimental results are shown in which hits thrown by human.
Speeding up robot motion provides not only improvement in operating efficiency but also improves dexterous manipulation by taking advantage of an unstable state or noncontact state. In this paper we describe a hybrid trajectory generator that produces high-speed manipulation. This algorithm both mechanical and sensor-based reactive motion. As example manipulation, robotic ball control batting task has been achieved. Performance evaluation is analyzed
This paper proposes a new strategy for making knots with high-speed multifingered robot hand having tactile sensors. The is divided into three skills: loop production, rope permutation, and pulling. Through these skills, knot can be made single hand. dynamics of the permutation are analyzed in order to improve success rate, an effective feedback control method proposed based on analysis. Finally, experimental results shown.
In this paper, we propose an entirely new strategy for dexterous manipulation of a linear flexible object with high-speed robot arm. The involves manipulating the at high speed. By moving speed, can assume that dynamic behavior be obtained by performing algebraic calculations motion. Based on assumption, derive model and confirm validity proposed model. Finally, perform simulation knotting based Results experiment demonstrating arm are shown.
The purpose of the work described in this paper is to achieve dynamic manipulation a sheet-like flexible object. As one example, we examine folding cloth with two high-speed multifingered hands mounted on sliders. First, by human subject analyzed order extract necessary motions for realizing task. Second, model object proposed extending linear (algebraic equation) that takes advantage robot motion. Third, motion planning system performed using model, and simulation results are shown....
With the development of science and technology, traditional industrial structures are constantly being upgraded. As far as drones concerned, an increasing number researchers using reinforcement learning or deep to make more intelligent. At present, there many algorithms for object detection. Although models have a high accuracy detection, these parameters complexity, making them unable perform real-time Therefore, it is particularly important design lightweight detection algorithm that able...
Recent technological advancements have expanded the range of applications and possibilities for industrial robots. Therefore, this special issue focuses on a wide topics, from reports successful practical to ambitious proposals that could significant impact field in future. These topics concern automation manual work, such as material handling factories, logistics, commercial facilities, public well elemental technologies system integration new work methods, collaboration remote operation....
This paper discusses the capturing robot with maximum acceleration of 100 G in design specification. We aim find combination arm a mass 0.1 kg and spring capable producing initial compressed force N, order to achieve G. To reduce total time, we propose an arm/gripper coupling mechanism where energy initially accumulated is transferred kinetic continuously for closing gripper at point without any time lag. The experimental results show 91 25 ms were achieved. Experiments on dropping ball also...
In recent years, the importance of measuring three-dimensional position and orientation manipulation targets in robot systems has been increasing. There is great demand to integrate robots with high-frame-rate vision improve working efficiency. A number high-speed have developed for visual feedback. this study, we focus on target tracking both 3D using only a monocular camera. This lightweight, low-cost solution many fields, such as surgical navigation drone avoidance. We modified pixel-wise...
Sliding mode control, an algorithm known for its stability and robustness, has been widely used in designing robot controllers. Such controllers inevitably exhibit chattering; numerous methods have proposed to deal with this problem the past decade. However, most scenarios, ensuring that specified form parameters selected are optimal system is challenging. In work, reinforcement-learning method adopted explore nonlinear function reduce chattering. Based on a conventional reference model...
Humans can perform fast and skillful manipulations using various parts of the body by effectively utilizing dynamics targets. Visual sensation is most important human sense used for such manipulations. Juggling one example involving dynamic manipulations, visual information essential it to be successful. Previously, there have been several studies about robotic juggling. However, none these considered cases in which a human-like multifingered hand-arm The purpose this study achieve two-ball...
Origami, a traditional Japanese art, is an example of superior handwork produced by human hands. Achieving such extreme dexterity one the goals robotic technology. In work described in this paper, we developed new general-purpose robot system with sufficient capabilities for performing Origami. We decomposed complex folding motions into simple primitives and generated overall motion as combination these primitives. Also, to measure paper deformation real-time, built estimator using physical...
In most conventional manipulation systems, changes in the environment cannot be observed real time because vision sensor is too slow. As a result system powerless under dynamic or sudden accidents. To solve this problem we have developed grasping using high-speed visual and force feedback. This multi-fingered hand-arm with hierarchical parallel processing called SPE-256. The important feature of ability to process sensory feedback at high speed, that is, about 1 ms. By an algorithm system,...
To achieve robotic manipulation tasks in the real world which there are dynamic changes an environment, we have developed a high-speed sensory-motor fusion system consisting of multiprocessor system, massively parallel active vision, and multifingered hand-arm. This 1-ms has following three features: 1) visual force feedback to deal with environment; 2) heterogeneous sensor process multiple environments; 3) hierarchical processing architecture perform tasks. These features allow motion...