2023FY

 

Journals (Published)

  1. Yusuke Hirao, Weiwei Wan, Dimitrios Kanoulas, and Kensuke Harada, “Body Extension by Using Two Mobile Manipulators,” Cyborg and Bionic Systems, vol. 4, Article ID: 0014, 2023.
  2. Tomohiro Motoda, Damien Petit, Takao Nishi, Kazuyuki Nagata, Weiwei Wan, and Kensuke Harada, “Multi-step Object Extraction Planning from Clutter based on Support Relations,” IEEE Access, vol. 11, pp. 45129-45139, 2023.
  3. Takuya Kiyokawa, Naoki Shirakura, Zhenting Wang, Natsuki Yamanobe, Ixchel G. Ramirez-Alpizar, Weiwei Wan and Kensuke Harada, “Difficulty and Complexity Definitions for Assembly Task Allocation and Assignment in Human-Robot Collaboration,” Robotics and Computer-Integrated Manufacturing, vol. 84, 102598, 2023.
  4. Sho Kobayashi, Weiwei Wan, Keisuke Koyama, and Kensuke Harada, “Obtaining an Object’s 3D Model Using Dual-arm Robotic Manipulation and Stationary Depth Sensing,” IEEE Transactions on Automation Science and Engineering, vol. 20, no. 3, pp. 2075-2087, 2023.
  5. Xinyi Zhang, Yukiyasu Domae, Weiwei Wan, and Kensuke Harada, “Learning to Dexterously Pick or Separate Tangled-prone Objects for Industrial Bin Picking,” IEEE Robotics and Automation Letters, vol. 8, no. 8, pp. 4919-4926, 2023.
  6. Takao Nishi, Shinya Kawasaki, Kosuke Iewaki, Fumio Okura, Damien Petit, Yoichi Takano, and Kensuke Harada, “M3R-CNN: On Effective Multi-modeal Fusion of RGB and Depth Cues for Instance Segmentation in Bin-picking,” Advanced Robotics, vol. 37, no. 18, pp. 1143-1157, 2023.
  7. Kento Nakatsuru, Weiwei Wan, and Kensuke Harada, “Implicit Contact-Rich Manipulation Planning for a Manipulation with Insufficient Payload,” Robotic Intelligence and Automation, vol. 43, no. 4, pp. 394-405, 2023.
  8. 山本純也，東和樹，小山佳祐，清川拓哉，万偉偉，原田研介，“シナジー切り替え可能な指型ウェアラブルアシストロボット―複数指との協調操作の実現―，”日本ロボット学会誌, vol. 41, no.6, pp. 569-572, 2023.
  9. 陳浩，清川拓哉，胡正涛，万偉偉，原田研介，“把持物体のオントロジーを用いた未知物体の把持,” 日本ロボット学会誌, vol. 41, no. 7, pp. 643-646, 2023.
  10. Shogo Hayakawa, Weiwei Wan, Keisuke Koyama, and Kensuke Harada, “A Dual-arm Robot that Manipulates Heavy Plates Cooperatively with a Vacuum Lifter,” IEEE Transactions on Automation Science and Engineering, vol. 20, no. 4, pp. 2808-2821, 2023.
  11. Zhenting Wang, Takuya Kiyokawa, Issei Sera, Natsuki Yamanobe, Weiwei Wan, and Kensuke Harada, “Error Correction in Robotic Assembly Planning from Graphical Instruction Manuals,” IEEE Access, vol. 11, pp. 107276-107286, 2023.
  12. Xinyi Zhang, Yukiyasu Domae, Weiwei Wan, and Kensuke Harada, “A Closed-Loop Bin Picking System for Entangled Wire Harnesses using Bimanual and Dynamic Manipulation,” Robotics and Computer-Integrated Manufacturing, vol. 86, 102670, 2024.
  13. Masato Tsuru, Adrien Escande, Iori Kumagai, Masaki Murooka, Kensuke Harada, “Online Multi-contact Motion Replanning for Humanoid Robots with Semantic 3D Voxel Mapping: ExOctomap,” Sensors, 23(21), 8837, 2023.
  14. Qi Zhang, Zhengtao Hu, Weiwei Wan, and Kensuke Harada. “Compliant Peg-in-Hole Assembly Using a Very Soft Wrist,” IEEE Robotics and Automation Letters, vol. 9, no. 1, pp. 17-24, 2024
  15. Kazuki Higashi, Keisuke Koyama, Ryuta Ozawa, Kazuyuki Nagata, Takuya Kiyokawa, Weiwei Wan, and Kensuke Harada, “Torque-sensing Soft Bellows Actuator for Multi-fingered Hands Taking Bellow’s Buckling into Consideration,” IEEE Access, vol. 11, pp. 129258-129268, 2023.
  16. Zhengtao Hu, Weiwei Wan, Keisuke Koyama, and Kensuke Harada, “Reducing Uncertainty Using Placement and Regrasp Planning on a Triangular Corner Fixture,” IEEE Transactions on Automation, Science and Engineering, vol. 21, no. 1, pp. 652-670, 2024.
  17. Takuya Kiyokawa, Jun Takamatsu, and Shigeki Koyanaka, “Challenges for Future Robotic Sorters of Mixed Industrial Waste: A Survey,’’ IEEE Transactions on Automation, Science and Engineering, vol. 21, no. 1, pp. 1023-1040, 2024.
  18. Ruishuang Liu, Chuan Li, Weiwei Wan, Jia Pan, and Kensuke Harada, “NBV/NBC Planning Considering Confidence Obtained from Shape Completion Learning,” IEEE Robotics and Automation Letters, vol. 9, no. 3, pp. 2774-2781, 2024.
  19. Yangqing Ye, Xiaolon Ma, Zhou Xuanyi, Guanjun Bao, Weiwei Wan, Shibo Cai, Dynamic and Real-Time Object Detection Based on Deep Learning for Home Service Robots, Sensors, 23, 9482, 2023.
  20. Leiying He, Leitao, Zhenghong Ma, Xiaoqiang Du, Weiwei Wan, Cherry Tomato Firmness Detection and Prediction Using a Vision-Based Tactile Sensor, Journal of Food Measurement and Characterization, vol. 18, pp. 1053-1064, 2024.

Refereed Conference Proceedings

  1. Zhengtao Hu, Abdullah Ahmed, Weiwei Wan, Tetsuyou Watanabe, and Kensuke Harada, “A Stifness-Changeable Soft Finger Based on Chain Mail Jamming,” Proceedings of IEEE International Conference on Robotics and Automation, pp. 7405-7411, 2023.
  2. Xinyi Zhang, Yukiyasu Domae, Weiwei Wan, Kensuke Harada, “Learning Efficient Policies for Picking Entangled Wire Harnesses: An Approach to Industrial Bin Picking,” Proceedings of IEEE International Conference on Robotics and Automation, 2023 (RA-L submission and duplicated).
  3. Taiki Yamaguchi, Osamu Fukuda, Hideaki Ito, Kensuke Harada, and Makoto Kaneko, “Active Strobe Imager That Can Measure Mechanical Impedance by using Inphase Operational Mode,” Proceedings of the 22nd International Conference on Solid-state Sensors, Actuators and Microsystems, pp. 983-986, 2023.
  4. Kazuki Iwao, Takao Nishi, Takuya Kiyokawa, Damien Petit, Weiwei Wan, and Kensuke Harada, “Planning Dense Object Packing by Pushing Objects,” Proceedings of IEEE International Conference on Automation, Science and Engineering, 2023.
  5. Zhengtao Hu, Weiwei Wan, Keisuke Koyama, and Kensuke Harada, “Reducing Uncertainty Using Placement and Regrasp Planning on a Triangular Corner Fixture,” Proceedings of IEEE International Conference on Automation, Science and Engineering, 2023 (TASE submission and duplicated).
  6. Shusei Nagato, Tomohiro Motoda, Takao Nishi, Damien Petit, Takuya Kiyokawa, Weiwei Wan, and Kensuke Harada, “Probabilistic Slide-support Manipulation Planning in Clutter,” Proceedings of IEEE/RSJ International Conference on Ingelligent Robots and Systems, pp. 1016-1022, 2023.
  7. Mizuki Takasu, Xinyi Zhang, Yukiyasu Domae, Weiwei Wan, and Kensuke Harada, “Industrial Bin Picking of Potential Entangled Objects in Dense Clutter by Skeletonized Shape Restoration,” Preprints of International Symposium on Experimental Robotics, S3.1, 2023.
  8. Hao Chen, Weiwei Wan, Masaki Matsushita, Takeyuki Kotaka, and Kensuke Harada, “In-Rack Test Tube Pose Estimation Using RGB-D Data,” Proceedings of IEEE International Conference on Robotics and Biomimetics,  2023.
  9. Zixin Gao, Liang Du, Xiaomeng Hu, Zhengtao Hu, Sheng Bao, Kensuke Harada, and Jianjun Yuan, “Muti-objective Geometric Optimization of a Multi-link Robot Manipulator Considering Dynamics Performance,” Proceedings of IEEE International Conference on Robotics and Biomimetics, 2023.
  10. Rozilyn Marco, Prashant Kumar, Xinyi Zhang, Weiwei Wan and Kensuke Harada, “Robotic Food Handling Utilizing Temperature Dependent Variable-Stiffness Material,” Proceedings of the 2024 International Conference on Artificial Life and Robotics, pp. 405-410, 2024.
  11. Akira Nakamura and Kensuke Harada, “Evaluation Standard of Error Recovery Planning Focused on Revival Process from Failures in Robotic Manufacturing Plants,” Proceedings of the 2023 International Conference on Artificial Life and Robotics, pp. 399-404, 2024.

 Non-referred Conference Proceedings

  1. Yuno Takitani, Keisuke Koyama, and Kensuke Harada, “Soft origami actuator with stepless variable stiffness,” Late Breaking Results Session in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023.
  2. Malek Aburub, Kazuki Higash, Weiwei Wan, Kensuke Harada, “Functional Grasping of Tools Using Approach Heatmaps,” Late Breaking Results Session in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023.

Articles

  1.  原田研介,“ロボット環境の未来図，” 水野勝之・土居拓務・鈴木　均［編著］『すばらしい未来に向けた環境予想―専門家30名による明日へのヒント―』，創成社, 2023/9
  2. Yangqing Ye, Xiaolon Ma, Zhou Xuanyi, Guanjun Bao, Weiwei Wan, Shibo Cai, Dynamic and Real-Time Object Detection Based on Deep Learning for Home Service Robots, Sensors, 23, 9482, 2023.
    Leiying He, Leitao, Zhenghong Ma, Xiaoqiang Du, Weiwei Wan, Cherry Tomato Firmness Detection and Prediction Using a Vision-Based Tactile Sensor, Journal of Food Measurement and Characterization, vol. 18, pp. 1053-1064, 2024.

Invited Talks

  1.  Kensuke Harada, “Robotic Manipulation in Clutter,” 3nd Rootica Corhuila, 2023/9/7
  2.  Kensuke Harada, “Research Topics in Robotics and AI for Industry”, Workshop on Robotics & AI in Future Factory, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023/10/1.
  3. Kensuke Harada, “Robotic Manipulation in Clutter”, Workshop on Leveraging Models in Contact-Rich Manipulation, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023/10/1.
  4. 原田研介, “産業応用を指向したロボットマニピュレーション研究,”　Panasonic総合技術シンポジウム, 2023/12/1.
  5. Takuya Kiyokawa, “CAD-Based Assembly / Disassembly Planning”, KUKA Technology Innovation Center, Germany, 2023/11
  6. Weiwei Wan, “AI-Driven Robot Manipulators for Lab Automation”, Nobel Turing Challenge Initiative Workshop, 2024/2
  7. Takuya Kiyokawa, “CAD-Based Assembly / Disassembly Planning”, Agile Robots, Germany, 2024/3

Patent

  1. 原田研介，張馨芸，堂前幸康，万偉偉，森建郎，“ワーク取り出し装置，”特願2023-095329, 2023/6/9

Award

  1. 端井 大貴, 清川 拓哉, 万 偉偉, 原田 研介, “位置と力のハイブリッド制御の学習に基づく複数ステップ包装作業-実験的検証-” 第24回計測自動制御学会システムインテグレーション部門講演会優秀講演賞，2023/12/23.
  2. 東 和樹, 山口 大貴, 胡 正涛, 原田 研介, “歩行動作に着目したウェアラブル空気圧生成システムの提案,” 第24回計測自動制御学会システムインテグレーション部門講演会優秀講演賞，2023/12/23.
  3. 加藤 辰樹，小山 佳祐，原田 研介，“空気圧回路と近接覚センサを用いた柔軟触覚センサの開発，” 第24回計測自動制御学会システムインテグレーション部門講演会優秀講演賞，2023/12/23.
  4. Prashant Kumar, “Temperature Dependent Soft Robotic Gripper,” 2023年度計測自動制御学会学術奨励賞, 2024/3/18.

Domestic Conferences

  1. 張竣博, 万偉偉, 田中信行, 藤田美紀, 高橋恒一, 原田研介, “ロボットと精密天秤を用いたピペットの自律校正,” 日本機械学会ロボティクス・メカトロニクス部門講演会，2022/6/28-7/1
  2. 所亮太, 小山佳祐, 清川拓哉, 万偉偉, 原田研介, “剛性可変な内骨格を備えたパウチモータの開発,” 日本機械学会ロボティクス・メカトロニクス部門講演会，2022/6/28-7/1
  3. 元田智大, ダミアン・ジェラルド・プティ, 西卓郎,  永田和之, 万偉偉, 原田研介, “崩れ予測に基づく多段階ばら積みピッキング手法,” 日本機械学会ロボティクス・メカトロニクス部門講演会，2022/6/28-7/1
  4. 端井大貴, 清川拓哉, 万偉偉, 原田研介, “人の動作教示に基づく複数動作ステップからなる包装作業の学習,” 日本機械学会ロボティクス・メカトロニクス部門講演会，2022/6/28-7/1
  5. Ruishuang LIU, Weiwei WAN, Kensuke HARADA, “Obtaining a Shiny Metal Plate’s 3D Model using Deeply Learned Geometry and Next Best View Planning,” 日本機械学会ロボティクス・メカトロニクス部門講演会，2022/6/28-7/1
  6. 清川拓哉, 原田研介, 石倉智貴, 宮地直也, 松田源一郎, “ヒトとロボットの効率的な分解・解体作業を目指した進化型多数目的最適化による組立製品モデルからの順序生成,” 日本機械学会ロボティクス・メカトロニクス部門講演会，2022/6/28-7/1
  7. 山田　響生, 元田　智大, 家脇　康佑, 西　卓郎, 万　偉偉, 原田　研介, “取り出し困難な密集状態からの把持戦略の自動生成学習データの取得,” 日本機械学会ロボティクス・メカトロニクス部門講演会，2022/6/28-7/1
  8. 平尾友佑, 万偉偉, 清川拓哉, 小山佳祐, 原田研介, “手先にカメラを有する二台の移動型マニピュレータの遠隔操作,” 日本機械学会ロボティクス・メカトロニクス部門講演会，2022/6/28-7/1
  9. Vitor Hideyo ISUME, Takuya KIYOKAWA, Natsuki YAMANOBE, Weiwei WAN, Kensuke HARADA, “Craft Assembly Task: Improving Primitive Shape Generation from RGB Image via Mesh Templates,” 日本機械学会ロボティクス・メカトロニクス部門講演会，2022/6/28-7/1
  10. Qi ZHANG, Zhengtao HU, Weiwei WAN, Kensuke HARADA, “Robotic Peg-in-Hole Assembly Strategy Based on Environment Constraint using a Very Soft Wrist,” 日本機械学会ロボティクス・メカトロニクス部門講演会，2022/6/28-7/1
    増永航大, 万偉偉, 原田研介, “DMPを用いた経験動作に基づくマニピュレータの動作生成,” 日本機械学会ロボティクス・メカトロニクス部門講演会，2022/6/28-7/1
  11. Xinyi ZHANG, Yukiyasu DOMAE, Weiwei WAN, Kensuke HARADA, “Initial Experiments on Picking Entangled Wire Harnesses using Dynamic Manipulation” 日本機械学会ロボティクス・メカトロニクス部門講演会，2022/6/28-7/1
    瀧谷悠乃, 小山佳祐, 清川拓哉, 万偉偉, 原田研介, “形状記憶樹脂を用いた剛性可変折り紙アクチュエータ,” 日本機械学会ロボティクス・メカトロニクス部門講演会，2022/6/28-7/1
  12. 余博文, 万偉偉, 清川拓哉, 小山佳祐, 原田研介, “リニアガイドを用いた高荷重2指平行グリッパー,” 日本ロボット学会学術講演会，20239/11-14.
  13. 原田研介, ナウファルB. ファウザン, 河合勇一, “偏光カメラを用いた透過光を有する物体のピッキング作業,” 日本ロボット学会学術講演会，20239/11-14.
  14. 竹林龍之介, 清川拓哉, 万偉偉, 原田研介, “ChatGPT と作業グラフを併用した料理作業動作計画,” 日本ロボット学会学術講演会，20239/11-14.
  15. 金本翔真, 胡正涛, 清川拓哉, 万偉偉, 原田研介, “インピーダンス制御に基づく遮蔽のある未知対象物の把持計画,” 日本ロボット学会学術講演会，20239/11-14.
  16. Hao Chen, Takuya Kiyokawa, Zhengtao Hu, Weiwei Wan, Kensuke Harada, “Similarity-based fast grasp planning of unknown objects on a conveyor belt,” 日本ロボット学会学術講演会，20239/11-14.
  17. Malek Aburub, Kazuki Higashi, Weiwei Wan, and Kensuke Harada, “Functional Grasping of Tools Using Approach Heatmaps,” 日本ロボット学会学術講演会，20239/11-14.
  18. Yuan GAO, Weiwei WAN and Kensuke HARADA, “Development of a Miniature Vision-based Tactile Sensor with Fluorescent Pigment,” 日本ロボット学会学術講演会，20239/11-14.
  19. 小山佳祐, 原田研介, “反力と厚み調整が可能な触覚センサモジュールの開発,” 日本ロボット学会学術講演会，20239/11-14.
  20. 大原迪久，小山佳祐，原田研介，”柔軟膜を用いたオープンソースなフローティングフィンガー機構,” 第24回システムインテグレーション部門講演会, 2023/12/14-16.
  21. 加藤辰樹，小山佳祐，原田研介, “空気圧回路と近接覚センサを用いた柔軟触覚センサの開発,” 第24回システムインテグレーション部門講演会, 2023/12/14-16.
  22. 端井大貴，清川拓哉，万偉偉，原田研介, “位置と力のハイブリッド制御の学習に基づく複数ステップ包装作業—実験的検証—,” 第24回システムインテグレーション部門講演会, 2023/12/14-16.
  23. 東和樹，山口大貴，胡正涛，原田研介, “歩行動作に着目したウェアラブル空気圧生成システムの提案,” 第24回システムインテグレーション部門講演会, 2023/12/14-16.
  24. 余昌志，陳浩，清川拓哉，万偉偉，原田研介, “局所形状の類似性評価に基づくオクルージョンのある未知物体の把持生成,” 第24回システムインテグレーション部門講演会, 2023/12/14-16.  
  25. 田中寛仁，都留将人，清川拓哉，原田研介, “移動マニピュレータによる大型構造物の塗装計画–ソフトウェアシステムの構成–,” 第24回システムインテグレーション部門講演会, 2023/12/14-16.
  26. 東和樹, 原田研介, “流体ネットワークシナジーハンドによるプリグラスプ姿勢の生成,” 第24回システムインテグレーション部門講演会, 2023/12/14-16.
  27. Chenxi WANG, Takuya KIYOKAWA, Weiwei WAN, Natsuki YAMANOBE, and Kensuke HARADA, “Vision-based Modelless Assembly from Graphical Instruction Manual –Theory and Initial Experiments–,” 第24回システムインテグレーション部門講演会, 2023/12/14-16.

 

(C) Harada Lab.

Department of Systems Innovation, Graduate School of Engineering Science

Osaka University