Belt Object Manipulation Heads: Shinichi Hirai Contact: Yuusuke Takagaki Date: 2008 - 2013 Mailing address: Dept. Robotics, Ritsumeikan Univ. Kusatsu, Shiga 525-8577, Japan Supported by: Tateisi Science and Technology Foundation "Manipulation of Belt Objects" Associated lab/group:

Project Description

The goal of this research is to realize the manipulation of belt objects such as flat cables and flexible circuit boards. Deformation properties are estimated through visual observation of object deformation to determine the trajectory of a manipulator handling the object.

2013/5/23	Presented "Manipulation and Modeling of Belt Objects" at 2013 Fund Ceremony of Tateisi Science and Technology Foundation
2011/4/1	Proposal for Tateisi Science and Technology Foundation "Manipulation of Belt Objects" was accepted.

Personnel

	Name	Title	Degree
	Muhammad Hisyam Bin Rosle	Universiti Malaysia Perlis	Ph. D in Engineering
	Yuusuke Takagaki	Graduated	Master of Eng.
	Masataka Tamiya	Graduated	Master of Eng.
	Tatsuya Okura	Graduated	Master of Eng.
	Yuuki Kataoka	Graduated	Master of Eng.
	Kenji Matsubara	Graduated	Master of Eng.
	Toshiki Souma	Graduated
	Takumi Ishii	Graduated

Publications

• Yuuki Kataoka and Shinichi Hirai, Dynamic Insertion of Bendable Flat Cables with Variation Based on Shape Returning Points, Sabina Jeschke, Honghai Liu, and Daniel Schilberg eds., Intelligent Robotics and Applications, 978-3-642-25485-7, Springer Berlin Heidelberg, Lecture Notes in Computer Science 7101, pp.496-508, 10.1007/978-3-642-25486-4_50, 2011

• Hidefumi Wakamatsu, Eiji Morinaga, Eiji Arai, and Shinichi Hirai, Path Planning for Belt Object Manipulation, Proc. IEEE Int. Conf. on Robotics and Automation, pp.4334-4339, 10.1109/ICRA.2012.6224624, St. Paul, U.S.A., May 14-18, 2012
• Hidefumi Wakamatsu, Masayuki Aoki, Eiji Morinaga, Eiji Arai, and Shinichi Hirai, Property Identification of a Deformable Belt Object from Its Static Images Toward Its Manipulation, Proc. 2012 IEEE Int. Conf. on Automation Science and Engineering (CASE), pp.444-449, 10.1109/CoASE.2012.6386360, Seoul, Korea, Aug. 20-24, 2012
• Yuuki Kataoka and Shinichi Hirai, Dynamic Insertion of Bendable Flat Cables with Variation based on Shape Returning Points, 4th International Conference on Intelligent Robotics and Applications (ICIRA 2011), pp.496-508, 10.1007/978-3-642-25486-4_50, Aachen, Germany, Dec. 6-8, 2011
• Yuya Asano, Hidefumi Wakamatsu, Eiji Morinaga, Eiji Arai, and Shinichi Hirai, Deformation Path Planning for Belt Object Manipulation, Proc. 2010 Int. Symp. on Flexible Automation (ISFA2010), Tokyo, Japan, July 12-14, 2010
• Yuuki Kataoka and Shinichi Hirai, Vision-Guided Individual Modeling of Bendable Cables for Their Insertion, World Automation Congress, ISORA 2010 12th Int. Symp. on Robotics and Applications, Kobe, Japan, Sept. 19-23, 2010
• Yuya Asano, Hidefumi Wakamatsu, Eiji Morinaga, Eiji Arai, Shinichi Hirai, Deformation Path Planning for Manipulation of Flexible Circuit Boards, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2010), pp.5386-5391, 10.1109/IROS.2010.5651132, Taipei, Oct. 18-22, 2010

• Muhammad Hisyam bin Rosle and Shinichi Hirai, Measurement of the Cable-end's Three Dimensional Position and Orientation based on Stereo Vision, Robotics and Mechatronics Conference 2012, Hamamatsu, Japan, May 28-29, 2012

Notes

Vision-guided guidance (success) (m1v 6.4MB)

Teaching and playback (failure) (m1v 2.7MB)

Trajectories in vision-guided flat cable guidance

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