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

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 …

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 that is …

A practical robotic bin-picking system requires a high grasp success rate for various objects.
Also, the system must be capable of coping with various constraints and their changes …

This paper proposes a method for planning the pick-and-place motion of an object by dual-
arm manipulators. Our planner is composed of the offline and the online phases. The offline …

In this paper, we propose a general manipulation planner for dual-arm industrial
manipulators. According to the context, the planner automatically determines whether both …

We discuss grasp stability under gravity where each finger makes soft-finger contact with an
object. By clustering polygon models of a finger and an object, the contact area between a …

Robotic manipulation of a bulky object is challenging due to the limited kinematics and
payload of the manipulator. In this study, a robot realizes the manipulation of general …

Many dual-arm handover systems suffer from low success rates since the grasps are limited
to a small number of candidate grasps and handover poses. Large number increases …

We present a robotic system that can perform difficult reorientation tasks like flipping. The
system uses a gripping hand and takes the advantages of external surfaces. It is composed …