Paper-Conference

料理ロボットによる野菜の乱切りのための切断手法の提案
乱切りとは，野菜を大きさは揃えつつ不規則な形に切る切り方である．野菜を包丁で切断するロボットの研究 は数多く行われているが，野菜を乱切りするロボットの研究はそれほど行われていない．野菜を乱切りするとき は，大きさを揃えて切断することが重要である．しかし，野菜の形状を把握 …
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双腕ロボットによる卓上紐結びにおける隣接した紐の検出および解消操作
This paper focuses on the manipulation of flexible objects by a dual-armed robot. The objective of this research is to detect adjacent …
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小型階段清掃ロボットにおける踏板・蹴込板の全面拭き掃除とマニピュレータによる障害物除去
近年，ロボット掃除機が生活空間で活用されており，それに続いて階段清掃ロボットの開発も行われてきている．しかし，階段清掃ロボットは大型なものが多く清掃できる範囲が踏板のみのものが多い．そこで，本研究では清掃用スポンジを備えた小型ロボットにより踏板・蹴込板の全面を拭き掃除す …
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Investigation of Effect of Robot Handover Movements on Weight Perception
In human-human object delivery, there are differences in the handlers’ behavior depending on the weight of the object, and the receiver …
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Rolling Motion for Making Dumplings by Robot
This paper describes a method for rolling dumplings dough using a robot. We focused on two issues when tackling this problem: the …
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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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