| 清川 拓哉 | 1651045: M, 2回目発表 | ロボティクス 小笠原 司, 杉本 謙二, 高松 淳, 丁 明 |
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title: Dynamic Adjustment Method of Rotating Motion of Objects with Dynamic Center of Mass by 1 DoF Robot Hand
abstract: Tactile-based manipulation is useful as grasping strategy that does not slip, does not deform objects, and it is attempted to use it for robotic hands and artificial hands. However, in the previous research, the grasping strategy by low-degree-of-freedom hand has not been verified. Therefore, in this research, we propose a robust grasping strategy for objects with dynamic center of mass using 1 degree-of-freedom robotic hand by planning the rotation motion of the wrist with tactile sensing. language of the presentation: Japanese | ||
| 白倉 尚貴 | 1651060: M, 2回目発表 | ロボティクス 小笠原 司, 杉本 謙二, 高松 淳, 丁 明 |
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title: Pushing Motion for Heavy Objects by Multi-copter
abstract: Multi-copters are expected to be active in rescue, transport and inspection in the high place. Mobile manipulation by multi-copter has also been studied, but there is a problem that the control is affected by reactions by contact with objects. Previous researches manipulate lightweight objects with little influence on control. This study provides control method of manipulating heavy objects by multi-copter. Specific situations are the opening and closing of doors and removal obstacles in invasion into dangerous places. To achieve the object of this research, pushing motion of heavy objects is realized by multi-copter. Assuming that the physical parameter of the object to be pushed is known, simplify the problem and generate pushing motion. language of the presentation: Japanese | ||
| URIGUEN ELJURI PEDRO MIGUEL | 1651132: M, 2回目発表 | ロボティクス 小笠原 司, 杉本 謙二, 高松 淳, 丁 明 |
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title: Rearranging tasks in an instructed environment with a humanoid robot abstract: The use of robots in our daily life is becoming more common. One of the most repetitive tasks in a house hold is rearranging tasks. In this research I propose to use semantic information together with a humanoid robot to rearrange an environment. The robot knows partially the information about the environment to rearrange and it will infer the goal position of the objects based on the objects start location. Using a predefined set of rearranging rules the robot will rearrange in a way similar to the way a human does. language of the presentation: English | ||
| 袴田 有哉 | 1661014: D, 中間発表 | ロボティクス 小笠原 司, 杉本 謙二, 高松 淳, 丁 明 |
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title: Whole body motion generation of a humanoid robot considering the situation abstract: Humanoid robots have a similar form to humans. So, they might be able to work instead of us in our place. In our daily life, we often perform pushing and pulling motions, for example, opening/closing doors, refrigerators, and drawers. Therefore, it is important for humanoid robots to be able to perform such pushing and pulling motions. Several studies on opening a door by a humanoid robot have been conducted. However, the generated motion was slower than human. To speed up the motion, I propose to use a predefined reaction force as prior knowledge. Furthermore, I am trying to select the motions in the presence of the disturbance, while considering the accuracy of the final goal and the efficiency. For example, the efficiency is more important when removing objects, while the accuracy is more important when carrying objects. I propose to select the motion system using neural networks to learn dynamical systems of the object moving. language of the presentation: Japanese | ||