Throwing Manipulation
Movies
Assembly task (4.6MB)
Sorting task (4.7MB)
Learning for polygonal object (3.3MB)
Learning for point mass object (4.5MB)
Related papers
- H. Miyashita, T. Yamawaki and M. Yashima, ``Parts Assembly and Sorting
by Throwing Manipulation: Planning and Control,'' Journal of System Design and Dynamics, Vol. 5, No. 1, pp. 139-154, 2011. PDF (1.2MB)
- H. Miyashita, T. Yamawaki and M. Yashima, ``Parts Assembly by Throwing
Manipulation with a One-Joint Arm,'' Proc. 2010 IEEE/RSJ International Conference on Intelligent Robots and
Systems, Taipei, pp. 43-48, October, 2010. PDF (848KB)
- H. Miyashita, T. Yamawaki and M. Yashima, ``Learning Control Method for
Throwing an Object More Accurately with One Degree of Freedom Robot,''
Proc. 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Montreal, pp. 397-402, July, 2010. PDF (320KB)
- H. Miyashita, T. Yamawaki and M. Yashima, ``Control for Throwing Manipulation by One Joint Robot,'' Proc. 2009 IEEE International Conference on Robotics and Automation, Kobe, pp. 1273-1278, May, 2009. PDF (301KB)
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Assembly task
Sorting task |
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Manipulation Strategy based on Dynamics Shaping
(1) Trajectory Planning for Robot Arm
Movie
Hitting motion based on the dynamics shaping(4.6MB)
Related papers
- T. Yamawaki and M. Yashima, ``Planning Tracking Motion Insusceptible to
Unknown Disturbances Using Sensitivity Measure,'' Proc. 2010 IEEE International Conference on Robotics and Biomimetics, Tianjin, December, 2010. PDF (688KB)
- T. Yamawaki, Y. Tsuzuki and M. Yashima, ``Robust Hitting with Dynamics Shaping,''Proc. 2009 IEEE International Conference on Robotics and Automation, Kobe, pp. 114-119, May, 2009. PDF (1123KB)
- T. Yamawaki and M. Yashima, ``Arm Trajectory Planning by Controlling the
Direction of End-point Position Error Caused by Disturbance, '' Proc. 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, X'ian, pp. 1120-1125, July, 2008. PDF (576KB)
- T. Yamawaki and M. Yashima, ``Effect of Gravity on Manipulation Performance
of Robotic arm, '' Proc. of 2007 IEEE International Conference on Robotics and Automation, Rome, April, 2007. PDF (250KB)
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(2) Grasp Planning for Robot Hand
Related papers
- T. Yamawaki and M. Yashima, ``Grasp Planning based on Dynamics Shaping,''
Proc. 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Budapest, pp. 617-622, July, 2011. PDF (211KB)
- M. Yashima and T. Yamawaki, ``Task-Oriented Accuracy Measure for Dexterous Manipulation,'' Proc. 2008 IEEE International Conference on Robotics and Biomimetics, Bangkok, pp. 903-908, February, 2009. PDF (435KB)
- T. Yamawaki and M. Yashima, `` Task Accuracy Measure based on Dynamic Process
for Cooperating Manipulation System, '' Proc. 2008 IEEE International Conference on Mechatronics and Automation, Kagawa, FA2-2, August, 2008. PDF (220KB)
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Randomized Manipulation Planning for Multi-Fingered Hand
Movie
Simulation of manipulating the elliptic object (1.6MB)
Related papers
- M. Yashima, ``Manipulation Planning for Re-Orientation based on Randomized
Techniques, '' Proc. 2004 IEEE International Conference on Robotics and Automation, New Orleans, April, 2004. PDF (952KB)
- M. Yashima, ``Randomized Manipulation Planning Considering the Local Optimization
of Contact Mode Sequence,'' Proc. 2003 IEEE/RSJ International Conference on Intelligent and Robots
and Systems, Las Vegas, October, 2003. PDF (664KB)
- M. Yashima, Y. Shiina and H. Yamaguchi, ``Randomized Manipulation Planning
for A Multi-Fingered Hand by Switching Contact Modes,'' Proc. 2003 IEEE International Conference on Robotics and Automation, Taiwan, September, 2003. PDF (277KB)
- M. Yashima and H. Yamaguchi, ``Dynamic Motion Planning Whole Arm Grasp
Systems Based on Switching Contact Modes,'' Proc. 2002 IEEE International Conference on Robotics and Automation, Washington D.C., May, 2002. PDF (141KB)
- M. Yashima, ``On Planning for Whole Arm Manipulation with Switching Contact
Modes,'' Proc. 2001 IEEE/RSJ International Conference on Intelligent and Robots
and Systems, Hawaii, October, 2001. PDF (245KB)
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Whole Arm Manipulation and Contact Problems with Friction
Related papers
- M. Yashima and H. Yamaguchi, ``Complementarity Formulation for Multi-Fingered
Hand Manipulation with Rolling and Sliding Contacts,'' Proc. 2003 IEEE International Conference on Robotics and Automation, Taiwan, September, 2003. PDF (119KB)
- P. Song, M. Yashima and V. Kumar, ``Dynamics and Control of Whole Arm Grasps,''
Proc. 2001 IEEE International Conference on Robotics and Automation, Seoul, May, 2001. PDF (837KB)
- P. Song, M. Yashima and V. Kumar, ``Dynamic Simulation for Grasping and
Whole Arm Manipulation,'' Proc. 2000 IEEE International Conference on Robotics and Automation, San Francisco, April, 2000. (Best Manipulation Paper Award Finalist) PDF (1.77MB)
- M. Yashima and H. Yamaguchi, ``Control of Whole Finger Manipulation Utilizing
Frictionless Sliding Contact --- Theory and Experiment,'' Mechanism and Machine Theory, Vol.34, pp.1255-1269, 1999.
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Catching with High-Speed Robot Hand
Movies
Catching (1.3MB)
Opening and closing (1.3MB)
Related paper
- T. Yamawaki, S. Aasano, H. Miyashita and M. Yashima, `` Robot Catching
with High Manipulability Grasp Configuration using Vision,' 'Proc. 2008 IEEE International Conference on Robotics and Biomimetics, Bangkok, pp. 909-914, February, 2009. PDF(823KB)
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High-Speed Vision Tracking System
Movies
2-DOFs vision tracking system (6.1MB)
Tracking LED (7.6MB)
Tracking LED [1/10 Slow motion] (5.1MB)
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