With recent advances in safe and compliant hardware and control, robots are close to
finding their places in our homes. As the safety barrier between humans and robots is …

This article develops model-based grasp planning algorithms. It focuses on industrial end-
effectors like grippers and suction cups, and plans grasp configurations considering …

In this research, we tackle the problem of picking an object from randomly stacked pile.
Since complex physical phenomena of contact among objects and fingers makes it difficult …

This paper proposes a method for bin-picking for objects without assuming the precise
geometrical model of objects. We consider the case where the shape of objects are not …

Dexterous manipulation is an important function for working robots. Manipulator tasks such
as grasping, assembly and disassembly can generally be divided into several motion …

Grasping various objects is a key function required for service robots. In this paper, seven
kinds of shape primitives utilized for abstracting objects to be grasped are proposed for …

This study investigates object picking focusing on object arrangement patterns. Objects
stored in distribution warehouses or stores are arranged in regular patterns, and the …

This paper proposes an object placement planner for a grasped object during pick-and-
place tasks. The proposed planner automatically determines the pose of an object stably …

This paper presents a knowledge model of everyday objects for semantic grasp. This model
is intended for extracting the grasp areas of everyday objects and approach directions for …

This paper proposes a iterative visual recognition system for learning based randomized bin-
picking. Since the configuration on randomly stacked objects while executing the current …