Manipulation Robotics Lab (Makita Lab)

Research

Our conference proceeding has been published at the 29th International Symposium on Artificial Life and Robotics. We propose a material classfication method with analyzing thermal images of the object's heat transfer.

Ken Lertdumronglak and Satoshi Makita: ``Material classification using heat transfer analysis with infrared camera,'' 29th International Symposium on Artificial Life and Robotics, GS31-5, Beppu, Jan. 2024.

• Congratulations! The first author, Ken won a Young Author Award at AROB-ISBC-SWARM 2024.

Research

Our OPEN ACCESS paper has been published on Journal of Robotics and Mechatronics (Fuji Technology Press). We propose a through-hole detection from a point cloud to aim to hook an object, as humans do that for a mug.

K. Makihara, T. Otsubo, and S. Makita: ``Through-hole Detection and Finger Insertion Planning as Preceding Motion for Hooking and Caging a Ring,'' J. of Robotics and Mechatronics, Vol .35, No. 3, pp.734--742, June 2023.

• Abstract and Full-text (Open Access) on Fuji Technology Press Ltd. doi: 10.20965/jrm.2023.p0734

Research

Our OPEN ACCESS paper has been published on International Journal of Automation Technology (Fuji Technology Press). We propose a method of direct teaching (robot programming) using a virtual reality device.

S. Makita, T. Sasaki and T. Urakawa： ``Offline Direct Teaching for a Robotic Manipulator in the Computational Space,'' Int. J. of Automation Technology, Vol. 15, No. 2, pp. 197--205, Mar. 2021.

• IJAT (Open Access)

Info

S. Makita had moved to Fukuoka Institute of Technology on April 2020.

Research

We present an evaluation framework for caging grasps, where the captured object is prevented from moving by both geometrical arrangement of robots and mechanical interferences. Our evaluation index based on robustness measure in robotic grasping and contact tasks is available to deal with such different properties simultaneously.

S. Makita and K. Makihara: ``Homogeneous Quantitative Measure of Caging Grasps with both Geometrical and Mechanical Constraints,'' 19th International Conference on Control, Automation and Systems, pp. 311--316, Jeju, Korea, Oct 2019.

• Abstract and Full-Text on IEEEXplorer DOI: 10.23919/ICCAS47443.2019.8971548
• Accpeted version of manuscript (1.6MB)
• Presentation Slides on SlideShare

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Analysis and planning of robotic manipulation

Mechanics of manipulation

In robotic manipulation, robots and the circumstances apply contact forces to target objects and grasp and manipulate the objects. Hence analyses of contact and other external forces plays an important role in order to execute appropriate such contact tasks. We study constraint conditions on frictional forces for fair analyses of contact forces and propose various applications of the analyses.

Caging

Caging is a geometical capturing method where a target objects are surrounded by robots and are prevented from escaping from the robotic cage. An advantage of caging is that it is achieved even by position-controlled robots and requires only geometrical features of objects, which can be acquired by cameras and range sensing. We call caging grasps by a multifingered hand in 3D space as "3D multifingered caging" and propose formulation of sufficient conditions and object perception for motion planning.

手指の弾性特性の解明とスポーツ科学への応用

手指の弾性特性の生理学的解明

筋腱複合体（Muscle-Tendon Complex）とは筋と腱の総称です． 腱は筋と骨をつなぐ組織で，通常の筋力ではほとんど伸長しませんが，外力を加えることで腱が伸長し，ばねのようなふるまいをみせることがあります． 腱の持つ弾性特性をうまく使うことで，筋力だけでは発揮できないような運動速度でも発揮できるようになります．本研究では，手指の筋腱複合体に注目して，その弾性特性と，そこから得られる力学特性，運動特性を解析しています．

バレーボールのオーバーハンドパスの動作解析

バレーボールのオーバーハンドパスはボールを受け止めて緩衝する動作とボールを押し出す動作の2動作が100ms以内に実施される高度な技術です．このとき，手指の弾性（外力で反らすと反力で高速に戻る）が大きく関与していると予想しています．本研究では動作中のボールと手指との運動を計測し，オーバーハンドパスの力学モデルを構築し，定量的な評価を目指します．

査読付き雑誌掲載論文

槇田諭，万偉偉：``ケージングとその応用について''，日本ロボット学会誌，Vol. 36，No. 5，pp. 316--326，2018年6月．

査読付き国際・国内会議論文

S. Makita and K. Makihara: ``Homogeneous Quantitative Measure of Caging Grasps with both Geometrical and Mechanical Constraints,'' The Int. Conf. on Control, Automation and Systems, WB3-6, Jeju, Korea, Oct 2019.

口頭発表ほか

林田，大坪，槇田：``多指ハンドでケージング可能な領域の離散的探索''，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，2C4-12，2019年12月．