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Rsj2014 presentation slides
We investigate the quality of "partial caging", where a position-controlled robotic hand confines an object geometrically but the object can escape from the hand through a narrow gap. Which arrangement of the fingers can capture the object more restrictedly?
Joint Torque Optimization for Quasi-static Graspless Manipulation / Icra2013 ...
Joint Torque Optimization for Quasi-static Graspless Manipulation / Icra2013 ...Fukuoka Institute of Technology
Abstract --- Graspless manipulation is easily interfered by external disturbances because the manipulated object is not completely held by a robot hand and supported by an environment such as a floor. Thus it is important to ensure the manipulation
is executed robustly against some disturbances. In our works, we have proposed a rigid-body-based analysis of indeterminate contact forces for quasi-static graspless manipulation, and also joint torque optimization for robotic hands. The joint torques
of the robot is determined in consideration of some robustness of manipulation against disturbances, which include changes or estimation errors of friction. In the analysis of contact forces in quasi-statics, we consider a kinematic constraint on static friction to exclude infeasible sets of frictional force, with considering treatment of kinetic friction. We also propose new objective functions for computing optimal joint torques in both static and quasi-static graspless manipulation. Some numerical samples of both applications are shown to verify our proposed methods.Motion Planning for 3D Multifingered Caging with Object Recognition using AR ...
Motion Planning for 3D Multifingered Caging with Object Recognition using AR ...Fukuoka Institute of Technology
Abstract: Caging is a method to capture an object geometrically by position-controlled robots without any force and tactile sensors. Many previous researches focused on caging constraints of objects, and those on planning are few. In this paper, we present a motion planner for caging by a multifingered hand and a manipulator to produce whole motion which includes approaching to a target object and capturing it without any collisions. We derive sufficient conditions required for the caging tasks about three caging patterns. Since the planner requires the object properties including the position
and orientation of the object, we adopt an object recognition using AR picture markers. We apply the proposed method to caging about four target objects: a cylinder, a ring, a mug and a dumbbell. Some experimental results shows that each motion are successfully planned, and executed by the arm/hand system.
Presented in ICMA2012 in Chengdu, China3D Multifingered Caging and Partial Caging - Iros2013 workshop-presentation
3D Multifingered Caging and Partial Caging - Iros2013 workshop-presentationFukuoka Institute of Technology
1) 3D multifingered caging involves using multiple robot fingers to constrain an object's movement in 3D space without grasping it.
2) The document discusses different types of caging patterns (envelope, ring, waist) and develops sufficient conditions for caging common shapes like spheres, disks, rings, and dumbbells.
3) It also introduces the concept of partial caging, which aims to constrain an object as much as possible even if a robot is unable to achieve complete caging due to limitations like low degrees of freedom. Partial caging could be useful for prosthetic hands.Compact bid languages and core-pricing
1) The document discusses using compact bidding languages and core pricing in large multi-object auctions to address computational hardness.
2) It proposes two approaches, TRIM and REUSE, to allow application of VCG and core pricing using non-optimal solutions from compact bidding languages in near real-time.
3) An experimental evaluation shows that TRIM and REUSE maintain high efficiency and revenue compared to optimal benchmarks, while significantly reducing computation time.
Recommended
What is Spyware?
Spyware is a type of malware that
install in a computer, and then
collects small pieces of information
about users without their
knowledge.
Rsj2014 presentation slides
We investigate the quality of "partial caging", where a position-controlled robotic hand confines an object geometrically but the object can escape from the hand through a narrow gap. Which arrangement of the fingers can capture the object more restrictedly?
Joint Torque Optimization for Quasi-static Graspless Manipulation / Icra2013 ...
Joint Torque Optimization for Quasi-static Graspless Manipulation / Icra2013 ...Fukuoka Institute of Technology
Abstract --- Graspless manipulation is easily interfered by external disturbances because the manipulated object is not completely held by a robot hand and supported by an environment such as a floor. Thus it is important to ensure the manipulation
is executed robustly against some disturbances. In our works, we have proposed a rigid-body-based analysis of indeterminate contact forces for quasi-static graspless manipulation, and also joint torque optimization for robotic hands. The joint torques
of the robot is determined in consideration of some robustness of manipulation against disturbances, which include changes or estimation errors of friction. In the analysis of contact forces in quasi-statics, we consider a kinematic constraint on static friction to exclude infeasible sets of frictional force, with considering treatment of kinetic friction. We also propose new objective functions for computing optimal joint torques in both static and quasi-static graspless manipulation. Some numerical samples of both applications are shown to verify our proposed methods.Motion Planning for 3D Multifingered Caging with Object Recognition using AR ...
Motion Planning for 3D Multifingered Caging with Object Recognition using AR ...Fukuoka Institute of Technology
Abstract: Caging is a method to capture an object geometrically by position-controlled robots without any force and tactile sensors. Many previous researches focused on caging constraints of objects, and those on planning are few. In this paper, we present a motion planner for caging by a multifingered hand and a manipulator to produce whole motion which includes approaching to a target object and capturing it without any collisions. We derive sufficient conditions required for the caging tasks about three caging patterns. Since the planner requires the object properties including the position
and orientation of the object, we adopt an object recognition using AR picture markers. We apply the proposed method to caging about four target objects: a cylinder, a ring, a mug and a dumbbell. Some experimental results shows that each motion are successfully planned, and executed by the arm/hand system.
Presented in ICMA2012 in Chengdu, China3D Multifingered Caging and Partial Caging - Iros2013 workshop-presentation
3D Multifingered Caging and Partial Caging - Iros2013 workshop-presentationFukuoka Institute of Technology
1) 3D multifingered caging involves using multiple robot fingers to constrain an object's movement in 3D space without grasping it.
2) The document discusses different types of caging patterns (envelope, ring, waist) and develops sufficient conditions for caging common shapes like spheres, disks, rings, and dumbbells.
3) It also introduces the concept of partial caging, which aims to constrain an object as much as possible even if a robot is unable to achieve complete caging due to limitations like low degrees of freedom. Partial caging could be useful for prosthetic hands.Compact bid languages and core-pricing
1) The document discusses using compact bidding languages and core pricing in large multi-object auctions to address computational hardness.
2) It proposes two approaches, TRIM and REUSE, to allow application of VCG and core pricing using non-optimal solutions from compact bidding languages in near real-time.
3) An experimental evaluation shows that TRIM and REUSE maintain high efficiency and revenue compared to optimal benchmarks, while significantly reducing computation time.
Isb2015 presentation - Estimation of Elastic and Dynamic Properties of a Fing...
Isb2015 presentation - Estimation of Elastic and Dynamic Properties of a Fing...Fukuoka Institute of Technology
This slides are presented in the 25th Congress of International Society of Biomechanics held in Glasgow, UK in July 2015.Rsj2015 presentation - Collaboration research for monitoring Tsushima Wildcats
Rsj2015 presentation - Collaboration research for monitoring Tsushima WildcatsFukuoka Institute of Technology
The Japanese slides report an approach to monitor Tsushima-Yamaneko, a kind of wildcat, by using UAVs.
In addition, an out-reaching activity for children in Tsushima, Nagasaki, Japan was held in August 2015. Icra2015 interactive presentation - Evaluation of Finger Configuration for Pa...
Icra2015 interactive presentation - Evaluation of Finger Configuration for Pa...Fukuoka Institute of Technology
This is presented in the 2015 IEEE Int. Conf. on Robotics and Automation held in Seattle, WA, USA in May 26-30.パーシャルなケージングにおける対象物の抜け出しにくさにゲート配置が与える影響 / RSJ2013 presentation
presented in RSJ2013, the 31st annual conference of the RSJ.
Iros2008 presentation slides - 3D Multifingered Caging: Basic Formulation and...
Iros2008 presentation slides - 3D Multifingered Caging: Basic Formulation and...Fukuoka Institute of Technology
This slides present a research on 3D multifingered caging, a geometrical method to capture an object by a robotic multifingered hand.その離島にしかない魅力を醸成，発信するための 複数離島間コミュニケーション基盤の形成 ― ICTの利活用による低コストかつ効率的な科学・技術・ 相互交...
その離島にしかない魅力を醸成，発信するための 複数離島間コミュニケーション基盤の形成 ― ICTの利活用による低コストかつ効率的な科学・技術・ 相互交...Fukuoka Institute of Technology
国立研究開発法人科学技術振興機構（JST）科学技術コミュニケーション推進事業 問題解決型科学技術コミュニケーション支援「ネットワーク形成型」に採択されました． 長崎県の離島地区を中心に，ICT を活用した離島の魅力の発信，教育コンテンツと活動機会の提供を実施します！Atenas(cristian mejia)
Atenas fue la ciudad principal de la antigua Grecia durante el primer milenio a.C. Alcanzó su apogeo en el siglo V a.C. bajo el liderazgo de Pericles, cuando se embelleció la ciudad, incluyendo la construcción de obras maestras arquitectónicas en la Acrópolis. Atenas tenía una economía próspera basada en la agricultura, la minería y el comercio, y fue cuna de importantes avances en filosofía, historia, arte y democracia.
Campeonato Distrital RáPidas
O campeonato distrital de xadrez rápidas foi realizado em 7 de julho de 2007. A secção de xadrez dos Amigos de Urgezes terminou em terceiro lugar e recebeu o troféu das mãos do presidente da AXDB, Fernando Castro.
Taller técnicas de recolección
Este documento presenta diferentes técnicas para la recolección de datos como encuestas, observación, método Delphi, sesiones de grupo y entrevistas. Explica las definiciones, ventajas, desventajas e instrumentos de cada técnica, y proporciona preguntas sobre sus características y aplicaciones.
Campeonatos escolares
Este documento resume los resultados de los Campeonatos Escolares del año 2013-14 en el IES Fernando Fernán Gómez. Se destaca el trabajo de los entrenadores y jugadores de los equipos de bádminton, fútbol sala infantil y cadete. El equipo de fútbol sala infantil llegó a cuartos de final y el equipo cadete llegó a la final, quedando subcampeones. Se enfatiza la importancia de los valores del respeto y el juego limpio en el deporte.
Vane
Este documento trata sobre temas de lógica, datos, bases de datos e información. Explica que la lógica estudia los principios de demostración e inferencia válida y carece de contenido. Los datos representan hechos empíricos que son usados para toma de decisiones. Una base de datos es un conjunto de datos almacenados sistemáticamente para uso posterior. La información son datos procesados que constituyen un mensaje que cambia el conocimiento.
5 avances tegnologicos que marcaran tendencia en 2014
El documento predice las tendencias tecnológicas para 2014, incluyendo el crecimiento de los teléfonos inteligentes en regiones en desarrollo, la anticipación de las necesidades de los usuarios por parte de los teléfonos, la adopción de impresoras 3D por empresas, el aumento de dispositivos wearables, el pago móvil a través de teléfonos, y el consumo de video a través de internet en lugar de DVDs.
Guía de historia y geografía
A guia de História e Geografia fornece informações sobre esses dois assuntos. Ela aborda eventos históricos importantes e características geográficas de diferentes regiões. O documento visa ajudar os estudantes a aprenderem mais sobre o passado e o mundo em que vivemos.
Calidad de la salud en colombia
El documento identifica cinco problemas que han llevado a la mala calidad en el sistema de salud colombiano: 1) la relación entre el sector público y privado, donde el sector privado controla el sistema a pesar de que el público aporta los recursos; 2) el abandono de la salud pública y estancamiento en políticas de prevención de enfermedades; 3) la crisis hospitalaria con falta de financiamiento que está acabando con los hospitales universitarios y públicos; 4) el descenso de la profesión médica ya que los médicos pref
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Isb2015 presentation - Estimation of Elastic and Dynamic Properties of a Fing...
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This slides are presented in the 25th Congress of International Society of Biomechanics held in Glasgow, UK in July 2015.Rsj2015 presentation - Collaboration research for monitoring Tsushima Wildcats
Rsj2015 presentation - Collaboration research for monitoring Tsushima WildcatsFukuoka Institute of Technology
The Japanese slides report an approach to monitor Tsushima-Yamaneko, a kind of wildcat, by using UAVs.
In addition, an out-reaching activity for children in Tsushima, Nagasaki, Japan was held in August 2015. Icra2015 interactive presentation - Evaluation of Finger Configuration for Pa...
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This is presented in the 2015 IEEE Int. Conf. on Robotics and Automation held in Seattle, WA, USA in May 26-30.パーシャルなケージングにおける対象物の抜け出しにくさにゲート配置が与える影響 / RSJ2013 presentation
presented in RSJ2013, the 31st annual conference of the RSJ.
Iros2008 presentation slides - 3D Multifingered Caging: Basic Formulation and...
Iros2008 presentation slides - 3D Multifingered Caging: Basic Formulation and...Fukuoka Institute of Technology
This slides present a research on 3D multifingered caging, a geometrical method to capture an object by a robotic multifingered hand.その離島にしかない魅力を醸成，発信するための 複数離島間コミュニケーション基盤の形成 ― ICTの利活用による低コストかつ効率的な科学・技術・ 相互交...
その離島にしかない魅力を醸成，発信するための 複数離島間コミュニケーション基盤の形成 ― ICTの利活用による低コストかつ効率的な科学・技術・ 相互交...Fukuoka Institute of Technology
国立研究開発法人科学技術振興機構（JST）科学技術コミュニケーション推進事業 問題解決型科学技術コミュニケーション支援「ネットワーク形成型」に採択されました． 長崎県の離島地区を中心に，ICT を活用した離島の魅力の発信，教育コンテンツと活動機会の提供を実施します！Atenas(cristian mejia)
Atenas fue la ciudad principal de la antigua Grecia durante el primer milenio a.C. Alcanzó su apogeo en el siglo V a.C. bajo el liderazgo de Pericles, cuando se embelleció la ciudad, incluyendo la construcción de obras maestras arquitectónicas en la Acrópolis. Atenas tenía una economía próspera basada en la agricultura, la minería y el comercio, y fue cuna de importantes avances en filosofía, historia, arte y democracia.
Campeonato Distrital RáPidas
O campeonato distrital de xadrez rápidas foi realizado em 7 de julho de 2007. A secção de xadrez dos Amigos de Urgezes terminou em terceiro lugar e recebeu o troféu das mãos do presidente da AXDB, Fernando Castro.
Taller técnicas de recolección
Este documento presenta diferentes técnicas para la recolección de datos como encuestas, observación, método Delphi, sesiones de grupo y entrevistas. Explica las definiciones, ventajas, desventajas e instrumentos de cada técnica, y proporciona preguntas sobre sus características y aplicaciones.
Campeonatos escolares
Este documento resume los resultados de los Campeonatos Escolares del año 2013-14 en el IES Fernando Fernán Gómez. Se destaca el trabajo de los entrenadores y jugadores de los equipos de bádminton, fútbol sala infantil y cadete. El equipo de fútbol sala infantil llegó a cuartos de final y el equipo cadete llegó a la final, quedando subcampeones. Se enfatiza la importancia de los valores del respeto y el juego limpio en el deporte.
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5 avances tegnologicos que marcaran tendencia en 2014
El documento predice las tendencias tecnológicas para 2014, incluyendo el crecimiento de los teléfonos inteligentes en regiones en desarrollo, la anticipación de las necesidades de los usuarios por parte de los teléfonos, la adopción de impresoras 3D por empresas, el aumento de dispositivos wearables, el pago móvil a través de teléfonos, y el consumo de video a través de internet en lugar de DVDs.
Guía de historia y geografía
A guia de História e Geografia fornece informações sobre esses dois assuntos. Ela aborda eventos históricos importantes e características geográficas de diferentes regiões. O documento visa ajudar os estudantes a aprenderem mais sobre o passado e o mundo em que vivemos.
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El documento identifica cinco problemas que han llevado a la mala calidad en el sistema de salud colombiano: 1) la relación entre el sector público y privado, donde el sector privado controla el sistema a pesar de que el público aporta los recursos; 2) el abandono de la salud pública y estancamiento en políticas de prevención de enfermedades; 3) la crisis hospitalaria con falta de financiamiento que está acabando con los hospitales universitarios y públicos; 4) el descenso de la profesión médica ya que los médicos pref
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パーシャルなケージングにおける対象物の抜け出しにくさにゲート配置が与える影響 / RSJ2013 presentation
パーシャルなケージングにおける対象物の抜け出しにくさにゲート配置が与える影響 / RSJ2013 presentation
Iros2008 presentation slides - 3D Multifingered Caging: Basic Formulation and...
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その離島にしかない魅力を醸成，発信するための 複数離島間コミュニケーション基盤の形成 ― ICTの利活用による低コストかつ効率的な科学・技術・ 相互交...
その離島にしかない魅力を醸成，発信するための 複数離島間コミュニケーション基盤の形成 ― ICTの利活用による低コストかつ効率的な科学・技術・ 相互交...
5 avances tegnologicos que marcaran tendencia en 2014
5 avances tegnologicos que marcaran tendencia en 2014
La fiesta nacional
- 1. La cultura del Toreo “ La Fiesta Nacional”
- 3. Las ventas (Madrid) Santa María (Bogotá) La Maestranza (Sevilla) La monumental (Città di Messico) Campo Pequenho (Lisboa) Arena (Bayona) Principalli piazze
- 4. Il toreo