Survey of robotic manipulation studies intending practical applications in real environments -object recognition, soft robot hand, and challenge program and benchmarking-

Watanabe, Toru; Yamazaki, Kimitoshi; Yokokohji, Yasuyoshi

doi:10.1080/01691864.2017.1365010

Cited by 52 publications

(16 citation statements)

References 126 publications

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“…An extended general-purpose industrial robot system that utilizes soft robotics technology is expected to be developed [8], and studies on grasping and manipulating the objects using flexible grippers or hands that fit objects' shapes have been conducted [9].…”

Section: Related Work Jigless Operation Methodsmentioning

confidence: 99%

Soft-Jig-Driven Assembly Operations

Kiyokawa,

Sakuma,

Takamatsu

et al. 2020

Preprint

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To design a general-purpose assembly robot system that can handle objects of various shapes, we propose a soft jig capable of deforming according to the shape of assembly parts. The soft jig is based on a jamming gripper used for robot manipulation as a general-purpose robotic gripper developed in the field of soft robotics. The soft jig has a flexible membrane made of silicone, which has a high friction, elongation, and contraction rate for keeping parts strictly fixed. The inside of the membrane is filled with glass beads to achieve a jamming transition. The usability of the soft jig was evaluated from the viewpoint of the versatility and fixing performance for various shapes and postures of parts in assembly operations.

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Section: Related Work Jigless Operation Methodsmentioning

confidence: 99%

Soft-Jig-Driven Assembly Operations

Kiyokawa,

Sakuma,

Takamatsu

et al. 2020

Preprint

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“…Data-driven approaches for manipulation have been widely investigated in robotics [2,9,10]. The approach proposed in [11] trains a classifier to predict the placement suitability of candidate poses based on 3D point-clouds of the object and the environment.…”

Section: Related Workmentioning

confidence: 99%

Predicting and Attending to Damaging Collisions for Placing Everyday Objects in Photo-Realistic Simulations

Magassouba¹,

Sugiura²,

Nakayama³

et al. 2021

Preprint

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Placing objects is a fundamental task for domestic service robots (DSRs). Thus, inferring the collision-risk before a placing motion is crucial for achieving the requested task. This problem is particularly challenging because it is necessary to predict what happens if an object is placed in a cluttered designated area. We show that a rulebased approach that uses plane detection, to detect free areas, performs poorly. To address this, we develop PonNet, which has multimodal attention branches and a self-attention mechanism to predict damaging collisions, based on RGBD images. Our method can visualize the risk of damaging collisions, which is convenient because it enables the user to understand the risk. For this purpose, we build and publish an original dataset that contains 12,000 photo-realistic images of specific placing areas, with daily life objects, in home environments. The experimental results show that our approach improves accuracy compared with the baseline methods.

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“…In this section, we review the existing benchmarks and challenge programs related to assembly. Please refer to the survey paper [8] which is coauthored by one of the authors for details.…”

Section: Related Robot Competitions and Benchmarksmentioning

confidence: 99%

Assembly Challenge: a robot competition of the Industrial Robotics Category, World Robot Summit – summary of the pre-competition in 2018

et al. 2019

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The World Robot Summit (WRS) is a robotic 'challenge and exposition' organized by the Japanese government to accelerate social implementation, research and development of robots working in realistic daily life, society, and industrial fields. In this paper, we introduce a robot competition of the Industrial Robotics Category of the WRS, called 'Assembly Challenge', which is organized by the WRS Industrial Robotics Competition Committee in order to promote the development of the next-generation production systems that can respond to new production demands in agile and lean manners. Prior to the main competition in 2020, a pre-competition was held in 2018 with 16 participating teams from around the world. In this paper, we introduce the contents and results of this pre-competition, analyze the results, and give a perspective for the 2020 main competition.

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Survey of robotic manipulation studies intending practical applications in real environments -object recognition, soft robot hand, and challenge program and benchmarking-

Cited by 52 publications

References 126 publications

Soft-Jig-Driven Assembly Operations

Soft-Jig-Driven Assembly Operations

Predicting and Attending to Damaging Collisions for Placing Everyday Objects in Photo-Realistic Simulations

Assembly Challenge: a robot competition of the Industrial Robotics Category, World Robot Summit – summary of the pre-competition in 2018

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