Paper-Conference

The Resting Motion of a Climbing Robot Utilizing Manipulator Slackness
The utilization of climbing robots is expected for high places where human entry is difficult or dangerous. Climbing robots undergo …
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Realization of Origami Manipulations with Robot Hand Utilizing Electroadhesion
This study presents strategies for the three fundamental origami operations of grasping, bending, and folding using a novel robot hand …
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A wheeled climbing robot that can transition from a horizontal surface to a vertical fence surface
Climbing robots are expected to be used in high places where it is difficult for humans to enter. Many climbing robots specialize only …
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Collection / transportation for a long object and multiple objects by using the manipulator with a bag
A bag has three advantages. First, it never drops objects as long as its mouth looks at vartical upward. Second, it can carry a long …
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Compact-sized stair-climbing robot that cleans treads and risers
In recent years, floor-cleaning robots such as robot vacuum cleaners have been used in living spaces, and robots that can clean stairs …
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Shock mitigation and recovery motion for a falling robot utilizing a folding umbrella
Unstable robots such as humanoids are at high risk of hardware damage due to falls. In this study, the purpose is to mitigate the …
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強化学習を用いたエアホッケーロボットの目標位置への打ち返し手法の提案
人とエアホッケーの対戦を行うロボットの実現に向けて, パックを目的の位置に打ち返すための動作を強化学習を用いて獲得する手法を考案し, シミュレーション環境を用いて打ち返しの精度を検証した. 学習を三つのフェーズに分けて行うことで, 一度の学習では習得できないような動作を …
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食材切断のための食材把持方法の提案
家庭用料理ロボットにとって，切断スキルは必須である．また，切断動作を安定させるため，食材をきちんと把持・固定することも必要である．本論文では，包丁で食材を切断する際の，食材の把持方法を提案した．切断する時の包丁が発生した切断力と摩擦力を計算し，それらの力に抵抗するための …
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Climbing movement for fence and wall by three-limbed robot
Today, many robots that move up and down walls and ladders are being researched, but robots that move laterally on grids such as fences …
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Cutting Curved Vegetables by Dual-armed Robot
This paper describes a method for robots to perform appropriate cutting operations on curved vegetables according to their shape. …
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