3 ball juggling by duam hand-arm robot (RSJ2019) Namiki Laboratory, Chiba University 2019-08-28 | We have developed a dual hand-arm robot controlled by visual feedback.The balls are observed by stereo high-speed vision at a rate of 1kHz.The throwing trajectories of two arms are optimized considering their dynamics.The catching trajectories are modified by realtime visual feedback control.The multi-fingered hands handle the balls so as to achieve accurate throwing.
Real-Time Tracking of Origami with Physics Simulator Considering Fold Lines Namiki Laboratory, Chiba University 2026-02-18 | Beyond Rigid Worlds: Representing and Interacting with Non-Rigid Objects (RINO) @ CoRL2025
DoF-extension High Magnification Monitoring System (2024) Namiki Laboratory, Chiba University 2025-09-30 | A novel pan-tilt-zoom (PTZ) camera with extended depth-of-field (DoF) to ad-dress the limited DoF of the images taken by the zoom lens in zoomed-in monitoring. Our concept pioneers the integration of the through-focus scanning mechanism and the high-speed pan-tilt mechanism based on the Galvano mirror. The left image is the full-frame view, while the two on the right are enlarged images obtained through pan-tilt. The top-right shows the focus scanning process, and the bottom-right is the final full-focus image that will be output.[1] Tianyi Zhang, Ziran Li, Qi Wang, Kohei Shimasaki, Idaku Ishii, Akio Namiki, DoF-Extended Zoomed-In Monitoring System With High-Frame-Rate Focus Stacking and High-Speed Pan-Tilt Adjustment, IEEE Sensors Journal, Volume: 24, Issue: 5, pp.6765-6776, 2024
ゼロショット学習を用いた未知対象に対する高速トラッキング(High-speed Tracking of Unknown Targets by Zero-shot Learning) Namiki Laboratory, Chiba University 2024-12-12 | ...
Dynamic-range focal sweep: seamleass continuous autofocus based on high-speed vision (IROS2024) Namiki Laboratory, Chiba University 2024-10-24 | ...
High-Speed Batting (2004-2006) Namiki Laboratory, Chiba University 2023-08-21 | Senoo, T., Namiki, A., & Ishikawa, M. (2004, April). High-speed batting using a multi-jointed manipulator. In IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA'04. 2004 (Vol. 2, pp. 1191-1196). IEEE.
High-Speed Grasping (1998-2002) Namiki Laboratory, Chiba University 2023-08-21 | Namiki, A., Nakabo, Y., Ishii, I., & Ishikawa, M. (2000). 1-ms sensory-motor fusion system. IEEE/ASME transactions on mechatronics, 5(3), 244-252.
Motion Strategy Using Opponent Players Serial Learning for Air-Hockey Robots (IROS2021) Namiki Laboratory, Chiba University 2021-09-28 | ...
Throwing by using model predictive trajectory generation / モデル予測軌道生成によるハンドアームの投球動作制御 Namiki Laboratory, Chiba University 2021-09-28 | ...
Real-Time Visual Feedback Control of Multi-Camera UAV Namiki Laboratory, Chiba University 2021-04-23 | In this paper, the concept of a multi-camera UAV system with multiple cameras attached to the body is proposed to realize high-precision omnidirectional visual recognition, self-localization, and obstacle avoidance simultaneously, and a two-camera UAV is developed as a prototype. The proposed flight control system can switch between visual serving (VS) for collision avoidance and visual odometry (VO) for self-localization. The feasibility of the proposed control system was verified by conducting flight experiments with the insertion of obstacles.fujipress.jp/jrm/rb/robot003300020263
High-Speed Catching by Multi-Vision Robot Hand (IROS 2020, short version) Namiki Laboratory, Chiba University 2020-12-03 | We propose the “multi-vision hand”, in which a number of small high-speed cameras are mounted on the robot hand. Also, we propose visual-servoing control by using a multi-vision system.
High Speed Catching by Multi Vision Robot Hand (IROS 2020, Full Version) Namiki Laboratory, Chiba University 2020-12-03 | We propose the “multi-vision hand”, in which a number of small high-speed cameras are mounted on the robot hand of a common 7 degrees-of-freedom robot. Also, we propose visual-servoing control by using a multi-vision system that combines the multi-vision hand and external fixed high-speed cameras. The target task was ball catching motion, which requires high-speed operation. In the proposed catching control, the catch position of the ball, which is estimated by the external fixed high-speed cameras, is corrected by the multi-vision hand in real-time.
Target Tracking of Moving and Rotating Object by High-Speed Vision (IEEE Sensors, Full version) Namiki Laboratory, Chiba University 2020-12-03 | In recent years, the importance of measuring the three-dimensional position and orientation of manipulation targets in robot systems has been increasing. There is great demand to integrate robots with high-frame-rate vision systems to improve the working efficiency. A number of high-speed vision systems have been developed for high-frame-rate visual feedback. In this study, we focus on high-speed target tracking of both 3D position and orientation using only a monocular camera. This is a lightweight, low-cost solution for many fields, such as surgical navigation and drone avoidance. We modified the pixel-wise posteriors 3D (PWP3D) framework, proposed a fast-PWP3D algorithm for high-speed target tracking and pose estimation. Unlike the original PWP3D method, our method improved the tracking speed(our current implementation runs 400 Hz on a GPU board), and we showed that the tracking accuracy against changes in the environment (e.g., partial occlusion) was improved compared with the original PWP3D. By combining the fast-PWP3D algorithm with a visual servoing controller, we realized 500 Hz target tracking of both 3D position and orientation.
Autonomous Target Tracking of UAV Using High-Speed Visual Feedback (2019) Namiki Laboratory, Chiba University 2019-11-01 | Most current unmanned aerial vehicles (UAVs) primarily use a global positioning system (GPS) and an inertial measurement unit (IMU) for position estimation. However, compared to birds and insects, the abilities of current UAVs to recognize the environment are not sufficient. To achieve autonomous flight of UAVs, like birds, the UAVs should be able to process and respond to information from their surrounding environment immediately. Therefore, in this paper, we propose a direct visual servoing system for UAVs, using an onboard high-speed monocular camera. There are two advantages of this system. First, the high image sampling rates help to improve the ability to recognize the environment. Second, the issue of control latency can be effectively solved because the position control signals are transmitted to the flight controller directly. In the experiment, the UAV could recognize a target at update rates of about 350 Hz, and a target tracking task was successfully realized. HM Chuang, D He, A Namiki, Autonomous Target Tracking of UAV Using High-Speed Visual Feedback, Applied Sciences, 2019mdpi.com/2076-3417/9/21/4552
Target Tracking of Moving and Rotating Object by High-Speed Vision (IEEE Sensors, Short version) Namiki Laboratory, Chiba University 2019-09-13 | The purpose of this study is to realize high-speed tracking of both the position and the orientation of the target by a monocular active vision system. We adopt PWP3D algorithm for high-speed target tracking and pose estimation. The posture trajectory of target is estimated at 400[Hz] by a monocular RGB camera, the result then feed-into a real-time control machine to actively tracking the target. The operation speed of entire system is asynchronous at 500[Hz]. Experiment result shows our method improves the performance of monocular-based target tracking in both convergence speed and robust, compared to the previous research. As a result, our system is capable of tracking object which rotates at 650[rpm] as maximum speed.
Master-slave control for drill operation Namiki Laboratory, Chiba University 2019-08-28 | Demonstration in mPACT tough robotics challenge
Assist Control for Master-Slave System (IEEE ICRA 2017) Namiki Laboratory, Chiba University 2019-08-28 | ...
Active High-Speed 3-D Vision System (Sensors 2019) Namiki Laboratory, Chiba University 2019-01-18 | We propose a high-speed 3-D sensing system with active target-tracking. The system consists of a high-speed camera head and a high-speed projector, which are mounted on a two-axis active vision system. By measuring coded structured light projected by the projector, 3-D measurement at a rate of 500 fps is achieved. The measurement range was increased because of the active tracking, and the shape of the target was accurately observed even when it moved quickly. A Namiki, K Shimada, Y Kin, I Ishii, Development of an Active High-Speed 3-D Vision System, Sensors, 2019mdpi.com/1424-8220/19/7/1572
Robotic Origami (IEEE/RSJ IROS 2015) Namiki Laboratory, Chiba University 2015-04-09 | Paper folding is one of the most difficult tasks for multi-fingered robot hands because paper is deformable and its stiffness distribution is nonuniform. In this study, we aim to achieve dexterous paper folding by extracting some dynamic primitives.Each primitive uses visual and force information, a physical model of a paper sheet for analyzing its deformation, a machine learning method for predicting its future state. In this paper, we propose a strategy to achieve valley folds of a sheet of paper twice in a row.In the second fold, a crease line of the first fold disturbs accuracy of the folding. We propose some new manipulation techniques to solve the problem. Finally we show demonstrations of the paper folding achieved with high success rate.
Robotic Catching in Kendama (IEEE-RAS Humanoids 2014) Namiki Laboratory, Chiba University 2015-04-09 | In recent years, various robot hands and armshave been developed for achieving dexterous manipulationtasks. However, there are few robots that are able not onlyto move quickly but also to handle tools dexterously. Motionin the Japanese game kendama is one example of dynamicmanipulation and skillful handling. Although robotic kendmahas been studied in the past, these robotic hands cannot be usedeffectively. The purpose of this study was to achieve kendamamotion by estimating the object to be grasped based on ahigh-speed vision system and CoP tactile sensors. Our robotsuccessfully performed the catching motion in kendama.Reference[1] Akio Namiki and Naoki Ito, Ball Catching in Kendama Game by Estimating Grasp Conditions Based on a High-Speed Vision System and Tactile Sensors, 2014 IEEE-RAS International Conference on Humanoid Robots, pp.634-639, 2014
Sword-fighting robot (JRM 2015) Namiki Laboratory, Chiba University 2015-04-09 | Development of a Sword-Fighting Robot Controlled by High-Speed VisionIn this paper, we propose a sword-fighting robot system controlled by a stereo high-speed vision system as an example of human-robot dynamic interaction systems. The developed robot system recognizes both of the positions of a human player and that of the sword grasped by the robot hand. And it detects the moment when the human starts to move by using ChangeFinder which is a method of detecting the turning points. Next it predicts the possible trajectories of the sword of the human player by a least-squares method from the moment when the attack started. Finally it judges the kinds of the attack and generates an appropriate defensive motion. Experimental results verify the effectiveness of the proposed algorithm.
Stick handling with an object-based teaching system (2013) Namiki Laboratory, Chiba University 2013-11-07 | ...
Robot hand with fingertip rotation joints (IFAC 2009) Namiki Laboratory, Chiba University 2013-11-07 | ...
High-Speed Robot Namiki Laboratory, Chiba University 2013-11-07 | Preview of demonstrations of high-speed robots.Air-hockeyHigh-speed handRobot jugglingDynamic regrasping
Control of Projected Images on Movable and Deformable Screens Using Visual Servoing (2013) Namiki Laboratory, Chiba University 2013-09-06 | In this paper we propose a new display system that consists of a high-speed vision and high-speed projector. This system has three features. First, controlling projection image by using information only from a visual sensor, this system generates the projection image without three dimensional image transformation Secondly, in this system a projected image is controlled by the error on the image plane based on visual servoing technique. Thanks to this feature, this system can project images with invariant to the conditions of the projection object, and accurate calibration between projectorand camera is not needed. Thirdly, this system consists of high-speed vision. This feature makes it possible to control projected image in real time. From these features, our proposed display system can project images not only on stable fixed screen but also on other objects such as deformable screen and moving screen. We set it a final goal to project image on flexible screen like a flag.
High-Speed Intelligent Air-Hockey Robot (IEEE ICRA 2013) Namiki Laboratory, Chiba University 2013-03-12 | ...
High-speed Vision System for Spectral Image Measurement (2012) Namiki Laboratory, Chiba University 2012-07-24 | The goal of this study is to develop a robot vision system which can recognize colors more precisely than human at high speed. To achieve this, we have developed a system which consists of a multi-spectral light source which can change its wavelength at high-speed and a high-speed monochrome camera. The system can recognize and track a target object at high speed. First, this system measures the spectral information of the target surface, and finds the features which are remarkableabout spectral reflectance. Secondly, by changing the wavelength of illumination actively, the system tracks the target with the features of spectral reflectance at high speed. Experiment results, in which the system distinguishes a target from otherobjects which has very similar appearance in human eye, are shown.
Robotic Juggling: two balls (IEEE ICRA 2012) Namiki Laboratory, Chiba University 2012-05-18 | Previously, there have been several studies about robotic juggling. However, none of these studies have considered cases in which a humanlike multifingered hand-arm is used for the robotic juggling. The purpose of this study is to achieve two-ball juggling using our robotic hand-arm, which has three general purpose fingers, and stereo vision. Image processing is executed at 500 fps using a high-speed vision system and graphics processing unit (GPU).
Dynamic Pen Spinning (IEEE-RAS Humanoids 2006) Namiki Laboratory, Chiba University 2011-11-22 | Pen spinning using our high-speed hand
Master-slave robot with FST (IREX 2011) Namiki Laboratory, Chiba University 2011-11-17 | 国際ロボット展による展示。千葉大, 旭光電機, ハーモニックドライブシステムズなどの共同開発による遠隔操作ロボット。 旭光電機によって開発されたFST (Flexible Sensor Tube)によって人間の動作を計測し、双腕ロボットを遠隔操作している。http://www.kyokko.co.jp/technology/fst.html
Master-slave robot with FST (IREX 2011) Namiki Laboratory, Chiba University 2011-11-17 | 国際ロボット展による展示。千葉大, 旭光電機, ハーモニックドライブシステムズ，慶応大，電通大などの共同開発による遠隔操作ロボット。 旭光電機によって開発されたFST (Flexible Sensor Tube)によって人間の動作を計測し、双腕ロボットを遠隔操作している。 http://www.kyokko.co.jp/technology/fst.html
High-speed multifingered hand (UT/HDS hand) (IEEE/RSJ IROS 2003) Namiki Laboratory, Chiba University 2009-04-28 | ...
