About
In this study, we have realized a propeller motion of a flower stick, that is a juggling task to keep cyclic rotation of the stick in the air by a hand stick, using a robotic arm. Through this kind of research to realize skillful and high-speed motion of human with a robot system, we are conducting research and development of high-speed dynamic manipulation technology which exceeds the performance of human or conventional robots.
Publications
- 青山忠義, 高木健, 三浦拓実, 石井抱: "運動学的拘束条件のみを考慮したフラワースティックの回転操作", 日本ロボット学会誌, Vol. 35, No. 3, pp. 86-94, 2017
- T. Aoyama, T. Takaki, Q. Gu, and I. Ishii: "Control Scheme of Nongrasping Manipulation Based on Virtual Connecting Constraint", IEEE International Conference on Robotics and Automation (ICRA), pp. 3819-3824, 2016.
- T. Aoyama, T. Takaki, T. Miura, Q. Gu, and I. Ishii: "Realization of Flower Stick Rotation Using Robotic Arm", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.5648-5653, 2015.
- T. Aoyama, K. Matsuba, T. Takaki, I. Ishii, and Y. Hasegawa: "Flower Stick Manipulation Based on the High-speed Visual Feedback Control of a Dual Robotic Arm", IFAC PapersOnLine, Vol.51, Issue 22, pp. 209–213, 12th IFAC Symposium on Robot Control, 2018.
- Y. Asai, T. Aoyama, M. Takeuchi, and Y. Hasegawa: "Flower Stick Rotation Manipulation Scheme not Requiring High-speed Robotic Motion", IEEE International Symposium on Micro-NanoMechatronics and Human Science, pp. 30-31, 2019.