Paper-Conference

3本指ハンドを備えた双腕マニピュレータによるポリ袋の持ち手の把持と開口操作
本論文では，ロボットでポリ袋を展開し袋の口を開く動作の手法を提案する．まず，ロボットがポリ袋の片方の持ち手を認識して把持する．次に，袋を回転させて，もう一方の持ち手も把持する．その後，左右のハンドがそれぞれ2 本の指で持ち手を把持した状態を保ちつつ，左右の3本目の指を使 …
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ヒューマノイドの転倒時の衝撃緩和に向けた折り畳み傘の開放・閉鎖の両立が可能な開閉機構の開発
Humanoid robots are at high risk of hardware damage due to falls over. We have proposed the novel shock mitigation approach using a …
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指先触覚センサによる円柱状物体の捻れ方向の滑り検出について
紐やペンなどの円柱状物体を操作する際, 捻れ方向の回転現象が起きることがある. 円柱状物体の正確なマニピュレーションを行う際,回転現象の考慮が必要な場合がある. 先行研究では,ロボットハンドの指先に取り付けた触覚センサの情報から得られる振動情報から,並進方向の滑りを検出 …
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Construction of Knotting Skills by Winding Rope Around Fingers With Hooks
This study focuses on rope knotting by a dual-armed robot. In most previous studies, ropes were manipulated by grasping them with …
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Grasping Multiple Ropes and Folding Them Into Bundle by Dual-armed Robot
This paper proposes a method of simultaneously grasping multiple ropes together by a dual-armed robot, and as an application, achieves …
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Installing Garbage Bag to Trash Can by Dual-armed Robot
This paper proposes a method of installing a garbage bag to a trash can using a dual-armed robot. The proposed method divides this task …
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Transformable Wheeled Humanoid with Shoulder Wheels for Fall Impact Mitigation
Humanoid robots are capable of walking and holding an object. However, they easily fall on uneven surfaces and move less efficiently …
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Turning clothes inside out with a dual-arm robot
This paper describes a method for turning a garment inside out using a dual-armed robot. The objective is to realize a six-step process …
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Net climbing robot with carabiner-shaped gripper that enables checking of grasping
The objective of this study is to propose a robot that is capable of climbing a net by utilising a carabiner-type gripper to ascertain …
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Collection and separation of multiple objects by the manipulator equipped with a bag and the separating mechanism
A bag has the advantages of holding multiple objects and being flexible enough to separate itself from outside. According to these …
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