paper-conference

3指ハンドを備えた双腕ロボットによる複数本の紐の空中での把持および把持点移動操作
This paper proposes a method for manipulating multiple ropes in air using a dual-arm robot equipped with three-fingered hands. The …
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加速度反応型の受動ロック機構を用いた3肢ネット登攀ロボットの負荷軽減
マニピュレータを有する登攀ロボットは腕を共通利用することで登攀と作業を両立できる．格子構造を登れる中で最も単純な３肢構成の場合，登攀の際に1肢で支持するフェーズで腕への負荷が集中し，サーボの発熱や破損を招く課題がある．本研究では，シートベルトの加速度反応型ロックを応用し …
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Compact Stair Cleaning Robot Equipped with Manipulators for Cleaning Treads, Risers, and Stair Nosings
This study proposes a compact robot capable of cleaning stair treads, risers, and nosings, and removing obstacles. Equipped with …
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Fence gate opening by a climbing robot equipped with a feed screw mechanism
Climbing robots are expected to be utilized for tasks in high places. Particularly, climbing widely installed fences enables them to …
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Firm Tying Operation by Dual-arm Robot Using the Object’s Corners
This paper proposes a firm tying method by a dual-arm robot that actively exploits the corners of a target object as geometric …
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Interfacial insertion peeling of mandarins using a robotic arm equipped with fingernails
Automating the peeling of soft, easily deformable fruits such as mandarin oranges remains a significant challenge in robotics, as …
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Machine Learning-Based Number-Specific Picking Using Robot Arm for Serving French Fries
This paper proposes a method for picking a specified number of pieces of loose-packed French fries using a robotic arm. The proposed …
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Opening a Zippered Plastic Bag by Dual-Armed Robot with Sticky Claw-Like Fingertips
This paper proposes a method of opening a zippered plastic bag by a dual-armed robot. The proposed method introduces sticky claw-like …
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Impact Mitigation and Recovery Strategy for a Transformable Wheel Humanoid Capable of Protecting Transported Objects Against Falls
This study aims to develop a transformable wheeled humanoid robot capable of protecting carried objects during falls and performing …
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Object grasping by bilateral control on the net surface of net climbing robot
This study proposes wireless bilateral control for object grasping on the net surface of a net climbing robot. When an operator …
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