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Throwing Manipulation

Movies
 右向き矢印  Assembly task (4.6MB)
 右向き矢印  Sorting task (4.7MB)
 右向き矢印  Learning for polygonal object (3.3MB)
 右向き矢印  Learning for point mass object (4.5MB)

Related papers
  1. 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. 右向き矢印 PDF (1.2MB)
  2. 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. 右向き矢印 PDF (848KB)
  3. 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. 右向き矢印 PDF (320KB)
  4. 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. 右向き矢印 PDF (301KB)

Assembly task


Sorting task
   
 
   
Manipulation Strategy based on Dynamics Shaping

(1) Trajectory Planning for Robot Arm

Movie
  右向き矢印 Hitting motion based on the dynamics shaping(4.6MB)

Related papers
  1. 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. 右向き矢印 PDF (688KB)
  2. 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. 右向き矢印 PDF (1123KB)
  3. 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. 右向き矢印 PDF (576KB)
  4. 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. 右向き矢印 PDF (250KB)
 
   
(2) Grasp Planning for Robot Hand

Related papers
  1. 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. 右向き矢印 PDF (211KB)
  2. 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. 右向き矢印 PDF (435KB)
  3. 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. 右向き矢印 PDF (220KB)
 

   
   
   
Randomized Manipulation Planning for Multi-Fingered Hand

Movie
 右向き矢印  Simulation of manipulating the elliptic object (1.6MB)

Related papers
  1. M. Yashima, ``Manipulation Planning for Re-Orientation based on Randomized Techniques, '' Proc. 2004 IEEE International Conference on Robotics and Automation, New Orleans, April, 2004. 右向き矢印 PDF (952KB)
  2. 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. 右向き矢印 PDF (664KB)
  3. 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. 右向き矢印 PDF (277KB)
  4. 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. 右向き矢印 PDF (141KB)
  5. 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. 右向き矢印PDF (245KB)
 
   
   
   
Whole Arm Manipulation and Contact Problems with Friction

Related papers
  1. 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. 右向き矢印 PDF (119KB)
  2. 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. 右向き矢印 PDF (837KB)
  3. 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) 右向き矢印 PDF (1.77MB)
  4. 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.


 
   
 
   
Catching with High-Speed Robot Hand

Movies
  右向き矢印 Catching (1.3MB)
  右向き矢印 Opening and closing (1.3MB)

Related paper
  1. 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. 右向き矢印 PDF(823KB)
 

   
 
   
High-Speed Vision Tracking System

Movies
  右向き矢印 2-DOFs vision tracking system (6.1MB)
  右向き矢印 Tracking LED  (7.6MB)
  右向き矢印 Tracking LED [1/10 Slow motion] (5.1MB)
   
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