Paper-Conference

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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Folding the Hem of Clothes by a Dual-arm Robot
This paper describes a method of folding the hem of clothes by a dual-arm robot. This paper aims to realize the hem folding process by …
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Proposal of the Teaching Method for Symmetric Repetitive Motion in String Knotting
This paper focuses on the manipulation of flexible objects by a dual-armed robot. We propose the method to simplify teaching by …
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Confirmation and execution of door closing by a small robot based on open/close decisions using patrolling and body contact
When a small robot closes a door that is large and heavy compared to its own body, it has a problem that it cannot continue the task …
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Analysis of Fingertip Tactile Sensors for Slip Detection of Rope
In rope manipulation by a robot, the rope is frequently in a state of slipping in order to stretch it. When getting the rope …
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エアホッケーのバンクショットのためのコース提示システム
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