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In this study, we propose a novel iterative learning scheme, which generates time-series data comprising the impedance value for human-robot cooperative work, where the human operator moves the end-effector from an initial position to a goal position. The proposed learning scheme iteratively updates time-series data comprising the variable impedance value to minimize a task-oriented cost function...
This paper proposes an iterative learning control scheme for whole-arm object manipulation by using a robotic hand system composed of a velocity-controlled finger and a torque-controlled finger. The novel iterative learning control scheme consists of the PD-type iterative learning control scheme for the velocity-controlled finger to follow the desired trajectory and the optimization-based iterative...
This paper reports on our initial efforts to achieve robotic nonprehensile catching. First, we show the importance of nonprehensile catching in a robotic catching task. Robotic nonprehensile catching can be achieved by caging or partial caging with gravity. Since an object is restricted within a bounded region via nonprehensile catching, accurate finger positioning is not required because the robotic...
The present paper discusses a planning and control strategy for robotic whole-arm manipulation of a slippery polygonal object by taking into account the estimated bounds of the frictional coefficient. In this study, randomized planning methods are first proposed in order to generate contact state transitions. Second, a novel control strategy that can switch manipulation between quasi-static, dynamic,...
The present paper introduces a planning and control strategy for whole-arm manipulation of a slippery polygonal object. Randomized planning methods are first proposed in order to generate contact state transitions, which help not only to reduce the amount of calculation required, but also to handle a hybrid system composed of a continuous system and a discrete system, which has a large search space...
The present paper proposes a novel grasp planning for a robotic hand to achieve a manipulation task with high accuracy against unknown disturbances. In precision tasks such as a peg-in-hole insertion or a manipulation with a tool, the manipulation accuracy of the task frame on the grasped target is important. We verify that the manipulation task accuracy for the robot hand system against unknown disturbances...
This paper proposes a throwing manipulation strategy for a robot with one revolute joint. The throwing manipulation enables the robot not only to manipulate the object to outside of the movable range of the robot, but also to control the position of the object arbitrarily in the vertical plane even though the robot has only one degree of freedom. In the throwing manipulation, the robot motion is dynamic...
The present paper proposes the motion planning based on “the dynamics shaping” for a robotic arm to hit the target robustly toward the desired direction, of which the concept is to shape the robot dynamics appropriately in order to accomplish the desired motion. According to the linear system theory, the positional error of the end-point converges onto near the singular vector corresponding to its...
The present paper proposes the strategy for a robotic hand to catch a free-flying object with a high manipulability grasp configuration. Several researchers have succeeded in catching the free-frying object by the robotic hand. However, these researches focus on only the catching and do not discuss the grasp configuration after the catching. It is important to consider not only the stable catching...
This paper proposes the control strategy for throwing as one of the dynamic manipulation. In dynamic manipulation, the robot's motion is dynamic and quick and there is no constant contact state. The dynamic manipulation has strong nonlinearity between control input and output, which often makes the manipulation unstable. And modeling errors affect the success of its manipulation task seriously. The...
A manipulation of a multiple contacted object by a rotational base and single-jointed finger mechanism (RBSF mechanism) is discussed. The manipulation is characterized by multiple contacts on an object and large motions of the object with sliding contacts. The kinematics and dynamics allowing sliding at multiple contacts are explored. Manipulation planning of the RBSF mechanism, which cannot exert...
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