Author name cluster

Eiichi Ono

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4 papers

1 author row

ICRA Conference 2007 Conference Paper

Task instruction by putting task information in work space

Kazuyuki Nagata
Yujin Wakita
Eiichi Ono

This paper presents a task instruction scheme for a service robot operating in a daily life environment. It is difficult for the robot to execute tasks automatically in the daily life environment, because it should handle various objects and the working environment is complex. In such an environment, the concept of shared autonomy by which the robot can share a task with a human is important. The task instruction that we propose is as follows: An operator clicks on a target object in a camera image and the system gets the position of the clicked point in the work space from the corresponding range image. Then, the operator selects the task model and attaches the task information to the position and the robot can perform its task safely and reliably using this task information. The features of the task instruction are as follows. An object model is composed of a list of task models which can be applied to the object category. The user recognizes the object type and its situation in the environment, and instructs a robot to execute a task by selecting a task model according to the object type and situation.

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IROS Conference 2001 Conference Paper

Picking up a piece of fabric from layers by a hand with 3 fingers and a palm

Eiichi Ono
Kosei Kitagaki
Masayoshi Kakikura

This paper investigates the handling of a fabric - a limp material with softness and flexibility. The fabric is characterized not only by its malleability but also its nonlinear properties. These properties are considered for picking up a piece of fabric. The robot hand with 3 fingers and a palm, that is used to study various handling techniques, is introduced. Its performance when picking up a piece from layers is experimentally shown.

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IROS Conference 1995 Conference Paper

Strategy for unfolding a fabric piece by cooperative sensing of touch and vision

Eiichi Ono
Nobuyuki Kita
Shigeyuki Sakane

A hand/eye system for handling flexible materials is under development. Our concern is to increase the effectiveness of a cooperative sensing of touch and vision for handling flexible and limp materials. We consider that a cooperative sensing of touch and vision is more important when flexible or limp objects such as fabrics are handled. This paper presents a strategy of sensor-based manipulation for unfolding a fabric piece in a case of primitive fabric handling movements. Vision and tactile sensing are used for picking up the folded part.

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IROS Conference 1990 Conference Paper

Robot hand with sensor for handling cloth

Eiichi Ono
Hidehiko Okabe
Hisao Ichijo
Noboru Aisaka
Hitoshi Akami

A robot hand to handle cloth is presented. In the study carried out, the authors tried to pick up a piece of cloth from a stack of cloth, to judge its thickness and to control the tension of it by the robot hand with a strain gauge sensor. The robot hand has two fingers with two degrees of freedom. One finger's tip was made from balsa wood, the other was made from balsa wood and phosphorus bronze plate with strain gauge sensor. The robot hand was attached to a robot arm and picked up a piece of cloth in cooperative motion with the robot arm. The hand was able to pick up a piece of wool cloth 0. 4 mm in thickness. And it was able to pick up a piece of rayon cloth 0. 2 mm in thickness in some trials by an automatic adjusting software. Sensor output was nearly in proportion to the thickness of cloth picked up. And sensor output was nearly in proportion to the tension of the cloth too.

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