Search Results 1-20 of 28

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  • 3P1-O06 Dynamic Catching of Kendama by Using Visual and Tactile Information(Sense, Motion and Measurement (2))  [in Japanese]

    ITO Naoki , NAMIKI Akio

    … The purpose of this study is to achieve kendama motion by the estimation of the grasping object based on high-speed visions and CoP tactile sensors. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2014(0), _3P1-O06_1-_3P1-O06_4, 2014

    J-STAGE

  • Knotting Plan based on Synthesis of Manipulation Skills with Considerations of Robot Hand Mechanism and Motion  [in Japanese]

    YAMAKAWA Yuji , NAMIKI Akio , ISHIKAWA Masatoshi , SHIMOJO Makoto

    … This paper demonstrates the relationship between the production process of a knot and robot hand skills. … Next, the characteristics of the robot hand skills are clarified from viewpoint of the description of the knot. … Then, in order to obtain the production process of knot, we propose an analysis method based on the structure of knot and the characteristics of the robot hand skills. …

    Journal of the Robotics Society of Japan 31(3), 283-291, 2013-04-15

    J-STAGE References (12)

  • 1A2-J03 Analysis of Pizza-spinning Manipulation by a High-speed Multifingered Hand(Robot Hand Mechanism and Grasping Strategy (2))  [in Japanese]

    YAMAKAWA Yuji , NAKANO Shisei , SENOO Taku , ISHIKAWA Masatoshi

    A dynamic manipulation of flexible object is needed for food industry. In this paper, we propose a new entirely strategy of rotational holding of discotic flexible object, and verify the proposed stra …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2013(0), _1A2-J03_1-_1A2-J03_4, 2013

    J-STAGE

  • Ball Juggling System with High-speed Multifingered Hand-Arm and High-speed Vision  [in Japanese]

    KIZAKI Takahiro , NAMIKI Akio , WAKIYA Shinichi , ISHIKAWA Masatoshi , NONAMI Kenzo

    … It is obviously preferable that robot can perform various tasks using same end effectors like a human hand and using visual information. … However, none of these studies have considered cases in which a human-like multifingered hand-arm is used for the robotic juggling. … The purpose of this study is to achieve two-ball juggling using our robotic hand-arm, which has three general purpose fingers, and stereo vision. …

    Journal of the Robotics Society of Japan 30(9), 924-931, 2012-11-15

    J-STAGE References (12) Cited by (1)

  • Dynamic Folding of a Cloth using a High-speed Multifingered Hand System  [in Japanese]

    YAMAKAWA Yuji , NAMIKI Akio , ISHIKAWA Masatoshi

    … The purpose of this paper is to achieve a dynamic folding of a cloth using a robot system with two high-speed multifingered hands. … Second, a simple model of sheet-like flexible object using high-speed motion will be suggested. … Fifth, a high-speed visual feedback control method will be proposed to grasp the cloth. …

    Journal of the Robotics Society of Japan 30(2), 225-232, 2012-03-15

    J-STAGE References (11) Cited by (2)

  • 1P1-I01 The Analysis of the Regrasping Motion for Two Ball Juggling by High-speed Hand-Arm(Robot Hand Mechanism and Grasping Strategy (3))  [in Japanese]

    KIZAKI Takahiro , ITO Naoki , NAMIKI Akio

    … It is obviously preferable that robot can perform various tasks using same end effectors like a human hand and using visual information. … However, there are no researches about robotic juggling in which a human-like multifingered hand-arm is used. … The purpose of this study is to achieve two ball juggling using our robotic hand-arm, which has three general purpose fingers, and stereo vision system. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2012(0), _1P1-I01_1-_1P1-I01_4, 2012

    J-STAGE

  • 1A2-I03 Dynamic Manipulation of Kendama by Using High-speed Hand-Arm and High-speed Vision(Robot Hand Mechanism and Grasping Strategy(2))  [in Japanese]

    ITO Naoki , KIZAKI Takahiro , NAMIKI Akio

    … However, in these researches robots have a different configuration with humans, or can not use its robotic hand effectively. … The purpose of this study is to achieve kendama motion with a hand-arm by using visual feedback. … We apply impedance control to robot hand in order to grasp kendama tool softly. … The trajectory of the hand-arm is generated based on optimization. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2012(0), _1A2-I03_1-_1A2-I03_4, 2012

    J-STAGE

  • 2P2-P02 Ball juggling with High-speed Hand-Arm and High-speed Visions(Sense, Motion and Measurement)  [in Japanese]

    KIZAKI Takahiro , NISHIJIMA Yoshimasa , NAMIKI Akio

    … However, there are few researches in which a human-like multi-fingered hand-arm is used. … The purpose of this study is to achieve ball-juggling with a hand-arm, which has three general purpose fingers, and stereo vision. … Image processing is executed at 500fps by high-speed vision system and GPU. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2011(0), _2P2-P02_1-_2P2-P02_4, 2011

    J-STAGE

  • 2A2-D04 3D catching using tweezers by multifingered hand  [in Japanese]

    YONEYAMA Daiki , SENOO Taku , NAMIKI Akio , ISHIKAWA Masatoshi

    … Multifingerd hand is capable of using tool and can increase its ability. … With high-speed actuator and vision robot can do more advanced tool manipulation than human. … The task multifingered hand catches a small ball in parabolic and free fall motion using tweezers is taken up for its demonstartion. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2010(0), _2A2-D04_1-_2A2-D04_2, 2010

    J-STAGE

  • 2A2-C19 Paper Slip Control with Robot Hand and CoP Sensor  [in Japanese]

    MATSUZAKI Hiroshi , HAYASHI Hirokazu , NAMIKI Akio , Shimojyou Makoto

    … For this purpose, we use high-speed multifingered hand with CoY (center of pressure) sensor. … By analyzing the information with Wavelet transform, the hand is controlled so that the paper is set to the desired position. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2010(0), _2A2-C19_1-_2A2-C19_4, 2010

    J-STAGE

  • 1A1-G10 High-speed throwing motion based on dynamics of multifingered hand-arm  [in Japanese]

    NISHIJIMA Yoshimasa , SENOO Taku , NAMIKI Akio

    … The purpose of the study is to achieve high-speed throwing motion using the hand-arm. … In order to achieve high-speed motion, an appropriate motion using the dynamic characteristic of the arm is needed. … As a result, they achieve high-level performance. … The parameters are optimized based on the dynamics of the hand-arm. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2010(0), _1A1-G10_1-_1A1-G10_3, 2010

    J-STAGE

  • 1A1-F30 Dynamic manipulation of ball with High-speed Hand-Arm and High-speed vision  [in Japanese]

    WAKIYA Shinichi , NISHIJIMA Yoshimasa , NAMIKI Akio

    … However, there are few researches, in which a multi fingered hand-arm like a human is used. … In this paper, at first, a ball position is extracted by high-speed image-processing. … At last, the experimental result is shown in which a ball is thrown by the hand-arm and its trajectory recognized by the high-speed vision. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2010(0), _1A1-F30_1-_1A1-F30_4, 2010

    J-STAGE

  • Knotting Manipulation of a Flexible Rope Using a High-speed Multifingered Hand and High-speed Visual and Tactile Sensory Feedback  [in Japanese]

    YAMAKAWA Yuji , NAMIKI Akio , ISHIKAWA Masatoshi , SHIMOJO Makoto

    … This paper proposes a new strategy for making knots with a high-speed multifingered robot hand with tactile sensors and visual sensor. … Through these three skills, a knot can be made with a single multifingered robot hand. … In loop production, the wrist joint angle control is proposed by using visual feedback with high-speed visual sensor. …

    Journal of the Robotics Society of Japan 27(9), 1016-1024, 2009-11-15

    J-STAGE References (14) Cited by (4)

  • 2A2-B19 High-speed throwing motion using multifingerd hand-arm  [in Japanese]

    NISHIJIMA Yoshimasa , SENOO Taku , NAMIKI Akio

    … The purpose of the study is to achieve high-speed throwing motion using the hand-arm. … In order to achieve high-speed motion, a human motion is referred to. … As a result, they achieve high-level performance. … Experimental results by high-speed robot arm are shown. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2009(0), _2A2-B19_1-_2A2-B19_3, 2009

    J-STAGE

  • 2A2-A22 Paper handling using a multifingered hand with high-speed vision  [in Japanese]

    HAYASHI Hirokazu , NAMIKI Akio

    … The purpose of the study is to achieve various types of paper handling such as turning over, bending, and folding, and the final goal is to achieve Origami task by multifingered hand. … Each fingertip is controlled independently, and the paper can be controlled to a desired position and orientation by controlling the rotation speed of each fingertip and the angle of each finger link at the contact point. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2009(0), _2A2-A22_1-_2A2-A22_3, 2009

    J-STAGE

  • A21 Tool manipulation by a multifingered hand based on visual servoing control  [in Japanese]

    Namiki Akio , Mizusawa Satoru , Ishikawa Masatoshi

    … In order to achieve a skillful handling like a human hand, it is necessary that a hand has a capability to manipulate tools. … One important problem of tool handling with a multifingered hand is that relative positions among a robot hand, a tool and a handled object change during the handling. …

    The Proceedings of the Symposium on the Motion and Vibration Control 2009.11(0), 204-207, 2009

    J-STAGE

  • 1P1-A13 Manipulation of a Tweezer-Type Tool by a Multifingered Hand based on High-speed Visusal Servoing  [in Japanese]

    MIZUSAWA Satoru , NAMIKI Akio , ISHIKAWA Masatoshi

    … In order to achieve a skillful handling like a human hand, it is necessary that a hand has a capability to manipulate tools. … One important problem of tool handling with a multifingered hand is that relative positions among a robot hand, a tool and a handled object change during the handling. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2008(0), _1P1-A13_1-_1P1-A13_4, 2008

    J-STAGE

  • 1P1-A09 Knotting Manipulation by a Multifingered Hand based on Skill Synthesis  [in Japanese]

    YAMAKAWA Yuji , NAMIKI Akio , ISHIKAWA Masatoshi , SHIMOJO Makoto

    … This paper illustrates the relationship between the knotting process and robot hand skills. … To extract a necessary hand skill for knotting, the knotting motion by human is analyzed. … Based on the analysis of knot and the characteristics of robot hand skill, the knotting process is described. … Finally, the experimental results are shown by using a high-speed multifingered hand system. …

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2008(0), _1P1-A09_1-_1P1-A09_4, 2008

    J-STAGE

  • High-Speed Manipulation Using Multifingered Robot Hand  [in Japanese]

    NAMIKI Akio

    「高速マニピュレーションプロジェグト」の目的は,人間を超える高速マニピュレーション能力を持つ多指ロボットハンドシステムを開発することであり,これまでに,高速多指ハンドの開発,様々なタスクのダイナミックスキルの解析,センサフィードバックによるダイナミックスキルの実現などについて研究を行ってきた.本稿では,本プロジェクトの現状の研究成果と今後の展望について述べる.

    IEICE technical report 107(332), 103-108, 2007-11-12

    References (13)

  • High-speed manipulation using multifingered robot hand  [in Japanese]

    並木 明夫

    ITE technical report 31(55), 103-108, 2007-11

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