2021FY

 

Journals (Published)

  1. Jingren Xu, Keisuke Koyama, Weiwei Wan, Yukiyasu Domae, Kensuke Harada, “Selecting and Designing Grippers for an Assembly Task in a Structured Approach,” Advanced Robotics, vol. 35, no. 6, pp. 381-397, DOI: 10.1080/01691864.2020.1870047, 2021.
  2. Masato Tsuru, Adrien Escande, Arnaud Tanguy, Kevin Chappellet, Kensuke Harada, “Online Object Searching by a Humanoid Robot in an Unknown Environment,” Robotics and Automation Letters, vol. 6, no. 2, pp. 2862-2869, DOI: 10.1109/LRA.2021.3061383, 2021.
  3. Yan Wang, Cristian Camilo Beltran-Hernandez, Weiwei Wan, Kensuke Harada, "Hybrid Trajectory and Force Learning of Complex Assembly Tasks: A Combined Learning Framework," IEEE Access, vol. 9, pp. 60175-60186, DOI: 10.1109/ACCESS.2021.3073711, 2021.
  4. Peihao Shi, Zhengtao Hu, Kazuyuki Nagata, Weiwei Wan, Yukiyasu Domae and Kensuke Harada, "Development of a Shape-memorable Adaptive Pin Array Fixture," Advanced Robotics, vol. 35, no. 10, pp. 591-602, DOI: 10.1080/01691864.2021.1911845, 2021.
  5. Ang Zhang, Keisuke Koyama, Weiwei Wan, and Kensuke Harada, "Controlling Pivoting Gait Using Graph Model Predictive Control," IEEE Access, vol. 9, pp. 73757-73770, DOI: 10.1109/ACCESS.2021.3081106, 2021.
  6. Mohamed Raessa, Weiwei Wan, and Kensuke Harada, "Planning to Repose Long and Heavy Objects Considering a Combination of Regrasp and Constrained Drooping," Assembly Automation, vol. 41, no. 3, pp. 324-332, DOI: 10.1108/AA-01-2021-0008, 2021.
  7. Ang Zhang, Keisuke Koyama, Weiwei Wan, and Kensuke Harada, "Manipulation Planning for Large Objects through Pivoting, Tumbling and Regrasping," Applied Sciences Special Issue on Advanced in Industrial Robotics and Intelligent Systems, 11(19), 9103, https://doi.org/10.3390/app11199103, 2021.
  8. Weiwei Wan, Takeyuki Kotaka, Kensuke Harada, "Arranging Test Tubes in Racks Using Combined Task and Motion Planning," Robotics and Autonomous Systems, 147, 103918, DOI:10.1016/j.robot.2021.103918, 2021
  9. Jingren Xu, Yukiyasu Domae, Toshio Ueshiba, Weiwei Wan, Kensuke Harada, "Planning a Minimum Sequence of Positions for Picking Parts From Multiple Trays Using a Mobile Manipulator," IEEE Access, vol. 9, pp. 165526-165541, DOI: 10.1109/ACCESS.2021.3135374, 2021.
  10. 小山佳祐，堀邉隆介，安田博，万偉偉，原田研介，石川正俊，"ワンボード・USB給電タイプの高速・高精度近接覚センサの開発とプリグラスプ制御の解析，"日本ロボット学会誌(レター), vol. 39, no. 9, pp. 862-865, 2021.
  11. Yan Wang, Cristian Camino Beltran-Hernandez, Weiwei Wan, and Kensuke Harada, “An Adaptive Imitation Learning Framework for Robotic Complex Contact-Rich Insertion Tasks,” Frontiers in Robotics and AI, vol. 8, article 777363, DOI: 10.3389/frobt.2021.777363, 2022.
  12. Hao Chen(M1), Takuya Kiyokawa, Weiwei Wan, Kensuke Harada, “Category-Association Based Similarity Matching for Novel Object Pick-and-Place Task” IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 2961-2968, DOI: 10.1109/LRA.2022.3145956, 2022.

 

Journals(Early Access)

 

Refereed Conference Proceedings

  1. Yan Wang, Cristian Camilo Beltran-Hernandez, Weiwei Wan, Kensuke Harada, "Robotic Imitation of Human Assembly Skills Using Hybrid Trajectory and Force Learning," Proceedings of IEEE International Conference on Robotics and Automation, 2021.
  2. Masato Tsuru, Adrien Escande, Arnaud Tanguy, Kevin Chappellet, Kensuke Harada, "Online Object Searching by a Humanoid Robot in an Unknown Environment," Proceedings of IEEE International Conference on Robotics and Automation, (RA-L submission, duplicated), 2021.
  3. Hao Chen, Weiwei Wan, and Kensuke Harada, "Planning to Build Soma Blocks Using a Dual-arm Robot," Proceedings of IEEE International Conference on Development and Learning, 2021.
  4. Xinyi Zhang, Keisuke Koyama, Yukiyasu Domae, Weiwei Wan, Kensuke Harada, "A Topological Solution of Entanglement for Complex-shaped Parts in Robotic Bin-picking," Proceedings of IEEE International Conference on Automation, Science and Engineering, pp. 461-467, 2021.
  5. Tomohiro Motoda, Damien Petit, Weiwei Wan, and Kensuke Harada, "Bimanual Shelf Picking Planner Based on Collapse Prediction," Proceedings of IEEE International Conference on Automation, Science and Engineering, pp. 510-515, 2021.
  6. Takumi Sakamoto, Weiwei Wan, Takao Nishi, Kensuke Harada, "Efficient Picking by Considering Simultaneous Two-Object Grasping," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 8272-8277, 2021.
  7. Issei Sera, Natsuki Yamanobe, Ixchel Georgina Ramirez-Alpizar, Zhenting Wang, Weiwei Wan, Kensuke Harada, "Assembly Planning by Recognizing a Graphical Instruction Manual," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3115-3122, 2021.
  8. Enrique Coronado, Kosuke Fukuda, Ixchel Georgina Ramirez-Alpizar, Natsuki Yamanobe, Gentiane Venture, Kensuke Harada, "Human Detection and Tracking; Assembly; Deep Learning Methods," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2605-2611, 2021.
  9. Weiwei Wan, Kensuke Harada, Fumio Kanehiro, "Planning Grasps with Suction Cups and Parallel Grippers Using Superimposed Segmentation of Object Meshes," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021. (TRO submission, duplicated)
  10. Vitor H. Isume, Kensuke Harada, Weiwei Wan and Yukiyasu Domae, "Using affordances for assembly: Towards a complete Craft Assembly System," Proceedings of The 21th International Conference on Control, Automation and Systems, 2021. 
  11. Jingren Xu, Yukiyasu Domae, Weiwei Wan, Kensuke Harada, “An Optimization-based Motion Planner for a Mobile Manipulator to Perform Tasks During the Motion,” Proceedings of 2022 IEEE/SICE International Symposium on System Integration (SII), pp. 519-524, 2022.
  12. Shusei Nagato, Tomohiro Motoda, Keisuke Koyama, Weiwei Wan and Kensuke Harada, “Motion Planning to Retrieve an Object from Random File,” Proceedings of the 2022 International Conference on Artificial Life and Robotics, pp. 328-334, 2022.
  13. Akira Nakamura and Kensuke Harada, “Suitable Error Recovery Process using Combined Evaluation Standards in Robotic Manufacturing Plant,” Proceedings of the 2022 International Conference on Artificial Life and Robotics, pp. 343-348, 2022. 

 

Articles

  1. 山崎公俊，横小路泰義，原田研介，渡辺哲陽，"ロボットによる食材加工の支援に向けて，"日本ロボット学会誌, vol. 39, no. 2, pp. 132-136, 2021.
  2. Masato Tsuru, Pierre Gergondet, Tomohiro Motoda, Adrien Escande, Ixchel G. Ramirez-Alpizar, Weiwei Wan, Eiichi Yoshida, Kensuke Harada, "How a Humanoid Robot Searches for an Object in Our Daily Environment," Open Access Government, April Issue, pp. 200-202, 2021.
  3. Maria Pozzi, Virginia Ruiz Garate, Arash Ajoudani, Kensuke Harada, Monica Malvezzi, Leonel Rozo, and Maximo A. Roa," Emerging Paradigms for Robotic Manipulation: From the Lab to the Productive World," Robotics and Automation Magazine, pp. 10-12, June, 2021.
  4. 原田研介，堂前幸康, “学習に基づくバラ積みからのピッキング,” 画像ラボ, 2021.12, pp. 60-66, 2021.
  5. 原田研介, “産業用ロボットのAIによるインテリジェント化に向けて,”機械設計，４月号

 

Invited Talks

  1. Kensuke Harada, "Robotic manipulation research aiming to industrial application," ICRA workshop "Emerging paradigms for robotic manipulation", 2021/5/31.
  2. Kensuke Harada, "Bimanual Manipulation -Complex, Human like and Efficient Manipulation--" ICRA Workshop "Bimanual manipulation: learning, planning and control", 2021/5/31.
  3. 原田研介, "ロボットの腕には、ヒミツがつまっている?!," Kids Tech Expo, 2021/6/6
  4. 原田研介, "DX化による生産性向上に関する研究事例," 中小企業のスマート化による生産性向上F/S支援事業 事例紹介, 2021/6/6
  5. 原田研介, "産業用ロボットとAI," 人工知能学会全国大会チュートリアルセッション「ロボティクスと人工知能～知能システム学的視点～」, 2021/6/10
  6. 原田研介, "産業応用を想定したロボットによるマニピュレーションの研究," 北九州ロボットフォーラムセミナー, 2021/6/30.
  7. 原田研介, "AI利用ロボット作業における動作生成の基礎と産業応用～作業動作の自動計画技術と人の作業動作の獲得によるインテリジェンス化～," 日刊工業新聞社有料オンラインセミナー, 2021/7/2, 2021/10/27.
  8. 原田研介, "組立作業の自動化のためのマニピュレータのプランニング，マニピュレーション技術," ロボット工学セミナー, 2021/9/1.
  9. 原田研介, "食品やそのサンプルを用いた料理動作の計画," 日本ロボット学会学術講演会オープンフォーラム 食品評価委サンプル規格標準化～食品業界のDX・自動化推進に向けて～, 2021/9/8
  10. 原田研介,  "産業用ロボットの現場適用に向けた研究開発動向について," 精密工学会超精密位置決め専門委員会定例会, 2021/9/17
  11. Weiwei Wan, Quickly Deploying Robotic Manipulators for Manufacturing Using AI and Planning, WRC Symposium on Advanced Robotics and Automation, Keynote Speech, Online, 2021.Sep.
  12. Kensuke Harada, "Basics and Application of Robot Task Motion Generation using AI,” AAR Seminar, Kyushu Institute of Technology, 2022/1/14.
  13. 原田研介,  “AI利用ロボットにおける組立作業の自動化のための作業動作計画“日刊工業新聞オンラインセミナー（AI利用によるロボットマニピュレーションと産業応用），2022/3/10

 

Patent

  1. 原田研介，万偉偉，堂前幸康，張馨芸，森建郎，吹田和嗣，五十嵐淳，"ワーク取り出し装置、ワーク取り出し方法、プログラム及び制御装置,"特開2021-186542, 2021/11/16

Award

  1. Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Kensuke Harada, Kazuhito Yokoi and Hirohisa Hirukawa, IEEE International Conference on Robotics and Automation Milestone Award, 2021/5.
  2. Masato Tsuru, IEEE Robotics and Automation Society Japan Joint Chapter Young Award  (ICRA 2021), 2021/6/7.
  3. Takuya Kiyokawa, IEEE Robotics and Automation Society Japan Joint Chapter Young Award (ICRA 2021), 2021/6/7.
  4. Yan Wang, Finalist of the 3rd International Session Best Presentation Award, 日本ロボット学会, 2021/9/10.
  5. Hao Chen, Finalist of the 3rd International Session Best Presentation Award, 日本ロボット学会, 2021/9/10.
  6. WRS2020, 3位, 人工知能学会賞, 2021/9/12.
  7. Xinyi Zhang, IEEE Robotics and Automation Society Japan Joint Chapter Young Award (IROS, CASE 2021), 2021/10/4.
  8. Tomohiro Motoda, IEEE Robotics and Automation Society Japan Joint Chapter Young Award (IROS, CASE 2021), 2021/10/4.
  9. Xinyi Zhang, SICE SI部門若手奨励賞, 2021/12/17
  10. 福本靖彦，山野辺夏樹，万偉偉，原田研介，"ヒトの作業特性に基づく複数ステップ力制御の最適化," FA財団論文賞，2021/12/10
  11. Xinyi Zhang, Yukiyasu Domae, Weiwei Wan, and Kensuke Harada, “Efficiently Picking Tangled-Prone Parts by Learning a Sequential Bin Picking Policy,” SI2021優秀講演賞, 2020/12/24
  12. 牧原昴志，堂前幸康，片岡裕雄，ラミレス　イクシェル，原田研介, “アピアランスからの物体柔軟性推定に基づく把持位置検出,” SI2021優秀講演賞, 2020/12/24
  13. 元田　智大，Damien Petit ，西　卓郎，永田　和之，万　偉偉，原田　研介，"陳列の乱れの識別に基づく双腕による充填作業計画," SI2021優秀講演賞, 2020/12/24
  14. 中津留　健人，万　偉偉，清川　拓哉，小山　佳祐，原田　研介, "環境との接触を利用した大型重量物のモバイルマニピュレーション計画と最適化," SI2021優秀講演賞, 2020/12/24
  15. Zhengtao HU, Weiwei WAN, Keisuke KOYAMA, Kensuke HARADA, "Eliminating Grasp Uncertainty Using Planned Sequential Handover Regrasp with Compliance Control," SI2021優秀講演賞, 2020/12/24
  16. 坂本匠，“複数対象物の同時把持による把持作業の効率化,” 計測自動制御学会学術奨励賞, 2021/2/22

Domestic Conferences

  1. 山本純也，東和樹，小山佳祐，万偉偉，原田研介，”シナジー切替可能な指型ウェアラブルアシストロボット，”the 2021 JSME Conference on Robotics and Mechatronics,2P3-C12,2021/6/6-8.
  2. 北村凌，小山佳祐，万偉偉，原田研介，”二段階NNモデルによる近接覚センサの高速・高精度キャリブレーション，”the 2021 JSME Conference on Robotics and Mechatronics,2A1-J07,2021/6/6-8.
  3. 田中康平，小山佳祐，万偉偉，原田研介，”小型・低摩擦アクチュエーター“MagLinkage Ⅱ”を用いた外界センサレスでのカードの高速把持，”the 2021 JSME Conference on Robotics and Mechatronics,2A1-J05,2021/6/6-8.
  4. 世良一成，山野辺夏樹，Ixchel G.Ramirez-Alpizar，Zhenting Wang，万偉偉，原田研介，”手順書のイラスト画像系列を用いた組立作業計画，”the 2021 JSME Conference on Robotics and Mechatronics,1P1-J12,2021/6/6-8.
  5. Zhengtao Hu，Weiwei WAN，Keisuke KOYAMA，Kensuke HARADA，”Manipulation Policies for Screw Fastening Task Using the Designed Rotating Tool，”the 2021 JSME Conference on Robotics and Mechatronics,1P1-J10,2021/6/6-8.
  6. 長門秀征，元田智大，小山佳祐，万偉偉，原田研介，”複雑な環境下における目標物体の取り出し動作計画，”the 2021 JSME Conference on Robotics and Mechatronics,1P1-J09,2021/6/6-8.
  7. 高須瑞輝，原田研介，万偉偉，小山佳祐，”複数種類の物質が含まれる絡みやすい物体のばら積みピッキング，”the 2021 JSME Conference on Robotics and Mechatronics,1P1-J08,2021/6/6-8.
  8. 巌和貴，小山佳祐，万偉偉，西卓郎，原田研介，”複数種類のグリッパを仮定した効率的なパッキングの把持動作計画，”the 2021 JSME Conference on Robotics and Mechatronics,1P1-J05,2021/6/6-8.
  9. 東和樹，元田智大，西村優佑，原彰良，濱本孝仁，原田研介，”強化学習による多指ハンドの低次元制御を実現するシナジーの獲得，”the 2021 JSME Conference on Robotics and Mechatronics,1P1-I16,2021/6/6-8.
  10. 中津留健人，万偉偉，小山佳祐，原田研介，”接触状態の遷移を考慮した大型物体のマニピュレーション計画，”the 2021 JSME Conference on Robotics and Mechatronics,1A1-F04,2021/6/6-8.
  11. 中村祐賀，万偉偉，小山佳祐，原田研介，”環境利用のケージングによる不可把持物体の操作，”the 2021 JSME Conference on Robotics and Mechatronics,1A1-F03,2021/6/6-8.
  12. 東和樹，小山佳祐，小澤隆太，永田和之，万偉偉，清川拓哉，原田研介，”多様な物体操作を可能にする流体ネットワークを用いたシナジーハンド，”第39回日本ロボット学会学術講演会,3F1-02,2021/9/8-9/11.
  13. 松岡尚吾，万偉偉，清川拓哉，小山佳祐，原田研介，”視覚・触覚センサを用いた透明物体の把持姿勢推定，”第39回日本ロボット学会学術講演会,2F3-03,2021/9/8-9/11.
  14. 小山佳祐，万偉偉，原田研介，”触覚機能を内包する高速・高精度近接覚センサ-拡散・鏡面反射面の測距・測角と反射パラメータ推定-，”第39回日本ロボット学会学術講演会,2F1-02,2021/9/8-9/11.
  15. Yan Wang，Cristian Camilo Beltran-Hernandez，Weiwei WAN，Kensuke Harada，”An adaptive LfD Framework for Complex Robotic Assembly Tasks，”第39回日本ロボット学会学術講演会,2A3-03,2021/9/8-9/11.
  16. Qi Zhang，Keisuke Koyama，Weiwei WAN，Kensuke Harada，”High-speed Scooping Grasping using MagLinkage hand Ⅱ with sharp fingertip，”第39回日本ロボット学会学術講演会,1G4-01,2021/9/8-9/11.
  17. Ruishuang LIU，Weiwei WAN，Keisuke KOYAMA，Kensuke HARADA，”Optimizaiton-based Planning and Contorol for 3D Robotic Drawing，”第39回日本ロボット学会学術講演会,1A1-05,2021/9/8-9/11.
  18. Hao Chen，Weiwei Wan，Masaki Matsushita，Takayuki Kotaka，Kensuke Harada，”High Precision Transparent Tube Detection for Autonomous In-Rack Rearrangement，”第39回日本ロボット学会学術講演会,1A1-04,2021/9/8-9/11.
  19. Ang ZHANG，Keisuke KOYAMA，Weiwei WAN，Kensuke HARADA，”Manipulation Planning to Pivot a General Shaped Object，”第39回日本ロボット学会学術講演会,1A1-03,2021/9/8-9/11.
  20. Vitor H. Isume，Kensuke Harada，Weiwei Wan，”Towards an affordance-based craft assembly system，”第39回日本ロボット学会学術講演会,1A1-02,2021/9/8-9/11.
  21. Hao Chen，Takayuki Kiyokawa，Weiwei Wan，Kensuke Harada，”Vision-Based Novel Object Grasping based on Object-Association Matching，”第39回日本ロボット学会学術講演会,1A1-01,2021/9/8-9/11.
  22. 小林　聖，万偉偉，清川拓哉，小山佳祐，原田　研介，"把持物体の3次元形状復元を目的とした最適な次姿勢の探索," 第22回システムインテグレーション部門講演会(SI2021)予稿集, 2021.
  23. Xinyi ZHANG, Yukiyasu DOMAE, Weiwei WAN, and Kensuke HARADA, "Efficiently Picking Tangled-Prone Parts by Learning a Sequential Bin Picking Policy," 第22回システムインテグレーション部門講演会(SI2021)予稿集, 2021.
  24. 元田　智大，Damien Petit ，西　卓郎，永田　和之，万　偉偉，原田　研介，"陳列の乱れの識別に基づく双腕による充填作業計画," 第22回システムインテグレーション部門講演会(SI2021)予稿集, 2021.
  25. 黒田　和暉, 清川　拓哉, Damien Petit, 小山　佳祐, 万　偉偉, 原田　研介, "Mixed Realityを用いた仮想環境上での組立作業の教示," 第22回システムインテグレーション部門講演会(SI2021)予稿集, 2021.
  26. Zhengtao HU, Weiwei WAN, Keisuke KOYAMA, Kensuke HARADA, "Eliminating Grasp Uncertainty Using Planned Sequential Handover Regrasp with Compliance Control," 第22回システムインテグレーション部門講演会(SI2021)予稿集, 2021.
  27. 髙田康太, 山野辺夏樹, ラミレスイクシェル, 清川拓哉, 小山佳祐, 万偉偉, 原田研介, "言語指示と料理画像を基にしたロボットの作業計画," 第22回システムインテグレーション部門講演会(SI2021)予稿集, 2021.
  28. Qi Zhang, Keisuke Koyama, Zhengtao Hu, Weiwei Wan, and Kensuke Harada, "Picking Thin Objects through Rotation of Thick Fingertip," 第22回システムインテグレーション部門講演会(SI2021)予稿集, 2021.
  29. 中津留　健人，万　偉偉，清川　拓哉，小山　佳祐，原田　研介, "環境との接触を利用した大型重量物のモバイルマニピュレーション計画と最適化," 第22回システムインテグレーション部門講演会(SI2021)予稿集, 2021.
  30. Jingren Xu, Yukiyasu Domae, Weiwei Wan, and Kensuke Harada, "Trajectory optimization for coupled mobile manipulator motion in picking tasks," 第22回システムインテグレーション部門講演会(SI2021)予稿集, 2021.
  31. 都留将人，Adrien Escande，原田研介，"未知環境下でのマルチコンタクト動作実現のための三次元環境モデル," 第22回システムインテグレーション部門講演会(SI2021)予稿集, 2021.
  32. 福村　肇，家脇　康佑，Damien PETIT，西　卓郎，髙野　洋一，原田　研介, "Topological Data Analysis(TDA)を用いた加速度センサによる異常検知や状態推定の検討," 第22回システムインテグレーション部門講演会(SI2021)予稿集, 2021.
  33. Prashant Kumar, Keisuke Koyama, Weiwei Wan, Kensuke Harada, "Soft Robotic Finger with Multi-Motion Modes by Manipulating Fluid Temperature," 第22回システムインテグレーション部門講演会(SI2021)予稿集, 2021.
  34. 牧原昂志，堂前幸康，片岡裕雄，ラミレスイクシェル，原田研介, "アピアランスからの物体柔軟性推定に基づく把持位置検出," 第22回システムインテグレーション部門講演会(SI2021)予稿集, 2021.

 

(C) Harada Lab.

Department of Systems Innovation, Graduate School of Engineering Science

Osaka University