Shinichi Hirai - Academia.edu (original) (raw)

Shinichi Hirai

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Papers by Shinichi Hirai

Research paper thumbnail of Design of Admittance Matrix Parameters Considering Modifiability Conditions

Journal of the Robotics Society of Japan, 1995

Research paper thumbnail of A Model-Based Approach to the Interpretation of Force and Position Sensor Signals for the Process Monitoring of Assembly Operations

Keisoku Jidō Seigyo Gakkai ronbunshū, 1990

A model-based approach to the monitoring of assembly processes is presented. In assembly operatio... more A model-based approach to the monitoring of assembly processes is presented. In assembly operations, efficient control strategies cannot be generated by single control laws because the task condition varies in the process.

Research paper thumbnail of Micro-Parts Feeding by a Saw-tooth Surface (Derivation of Feeding Dynamics of Micro-Parts)

TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C, 2007

Research paper thumbnail of Static Analysis of Deforming Operations in Manipulation of Flexible Thin Objects

Transactions of the Japan Society of Mechanical Engineers Series C, 1997

Research paper thumbnail of Deformation Transition Graphs of Rheological Objects for Their Shape Control

Journal of the Robotics Society of Japan, 2001

Research paper thumbnail of Stability Analysis Based on Continuous-discrete Time System of Dynamic Object Manipulation through A Soft Interface

Journal of the Robotics Society of Japan, 2006

Research paper thumbnail of Simultaneous Control of Position and Deformation of Viscoelastic Object-Positionability of a One-dimensional Viscoelastic Object

Journal of the Robotics Society of Japan, 2006

Research paper thumbnail of Analysis and Planning of Indirect Simultaneous Positioning Operation of Deformable Objects

Journal of the Robotics Society of Japan, 2000

Research paper thumbnail of Human-demonstration Based Approach to the Object Motion Design and the Recognition of Process State Transitions in Insertion of Deformable Tubes

Journal of the Robotics Society of Japan, 1997

Research paper thumbnail of Quasi-Static Manipulation Using Hemispherical Soft Fingertips by means of Minimum D.O.F. Two-fingered Robotic Hand

Journal of the Robotics Society of Japan, 2006

Research paper thumbnail of Feeding of Submillimeter-sized Microparts along a Saw-tooth Surface Using Only Horizontal Vibration: Analysis of Convexities on the Surface of Microparts

2007 IEEE International Conference on Automation Science and Engineering, 2007

Research paper thumbnail of Kinematics and Statics of Manipulation Using the Theory of Polyhedral Convex Cones

The International Journal of Robotics Research, 1993

A new approach to the kinematic and static analysis of ma nipulative tasks performed through mech... more A new approach to the kinematic and static analysis of ma nipulative tasks performed through mechanical contacts is presented. A variety of manipulation problems, including as sembly and grasps, have been treated separately in robotics research. All of the problems are treated as ways to solve a certain class of inequalities resulting from the unidirectional nature of mechanical contacts. One of the fundamental diffi culties in the analysis of manipulative tasks is the intractable nature of inequalities. In this article, we establish an underpinning mathematical tool for dealing with a variety of manipulative tasks that are governed by unidirectional constraints. First, we introduce a coherent representation for formulating various manipulation problems. Second, we develop several procedures based on the theory of polyhedral convex cones to solve these problems in a systematic and straightforward manner. The method is then implemented on a computer and applied to a variety of manipu...

Research paper thumbnail of Microparts Feeding by a Saw-Tooth Surface

IEEE/ASME Transactions on Mechatronics, 2006

Research paper thumbnail of Feeding of Submillimeter Microparts along an Asymmetric Surface Fabricated by Double-Pulsed Femtosecond Laser Process(Mechanical Systems)

Transactions of the Japan Society of Mechanical Engineers Series C, 2009

Research paper thumbnail of Two-phased force and coordinates controller for a pair of 2-DOF soft fingers

2009 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2009

Research paper thumbnail of Design of Admittance Matrix Parameters Considering Modifiability Conditions

Journal of the Robotics Society of Japan, 1995

Research paper thumbnail of A Model-Based Approach to the Interpretation of Force and Position Sensor Signals for the Process Monitoring of Assembly Operations

Keisoku Jidō Seigyo Gakkai ronbunshū, 1990

A model-based approach to the monitoring of assembly processes is presented. In assembly operatio... more A model-based approach to the monitoring of assembly processes is presented. In assembly operations, efficient control strategies cannot be generated by single control laws because the task condition varies in the process.

Research paper thumbnail of Micro-Parts Feeding by a Saw-tooth Surface (Derivation of Feeding Dynamics of Micro-Parts)

TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C, 2007

Research paper thumbnail of Static Analysis of Deforming Operations in Manipulation of Flexible Thin Objects

Transactions of the Japan Society of Mechanical Engineers Series C, 1997

Research paper thumbnail of Deformation Transition Graphs of Rheological Objects for Their Shape Control

Journal of the Robotics Society of Japan, 2001

Research paper thumbnail of Stability Analysis Based on Continuous-discrete Time System of Dynamic Object Manipulation through A Soft Interface

Journal of the Robotics Society of Japan, 2006

Research paper thumbnail of Simultaneous Control of Position and Deformation of Viscoelastic Object-Positionability of a One-dimensional Viscoelastic Object

Journal of the Robotics Society of Japan, 2006

Research paper thumbnail of Analysis and Planning of Indirect Simultaneous Positioning Operation of Deformable Objects

Journal of the Robotics Society of Japan, 2000

Research paper thumbnail of Human-demonstration Based Approach to the Object Motion Design and the Recognition of Process State Transitions in Insertion of Deformable Tubes

Journal of the Robotics Society of Japan, 1997

Research paper thumbnail of Quasi-Static Manipulation Using Hemispherical Soft Fingertips by means of Minimum D.O.F. Two-fingered Robotic Hand

Journal of the Robotics Society of Japan, 2006

Research paper thumbnail of Feeding of Submillimeter-sized Microparts along a Saw-tooth Surface Using Only Horizontal Vibration: Analysis of Convexities on the Surface of Microparts

2007 IEEE International Conference on Automation Science and Engineering, 2007

Research paper thumbnail of Kinematics and Statics of Manipulation Using the Theory of Polyhedral Convex Cones

The International Journal of Robotics Research, 1993

A new approach to the kinematic and static analysis of ma nipulative tasks performed through mech... more A new approach to the kinematic and static analysis of ma nipulative tasks performed through mechanical contacts is presented. A variety of manipulation problems, including as sembly and grasps, have been treated separately in robotics research. All of the problems are treated as ways to solve a certain class of inequalities resulting from the unidirectional nature of mechanical contacts. One of the fundamental diffi culties in the analysis of manipulative tasks is the intractable nature of inequalities. In this article, we establish an underpinning mathematical tool for dealing with a variety of manipulative tasks that are governed by unidirectional constraints. First, we introduce a coherent representation for formulating various manipulation problems. Second, we develop several procedures based on the theory of polyhedral convex cones to solve these problems in a systematic and straightforward manner. The method is then implemented on a computer and applied to a variety of manipu...

Research paper thumbnail of Microparts Feeding by a Saw-Tooth Surface

IEEE/ASME Transactions on Mechatronics, 2006

Research paper thumbnail of Feeding of Submillimeter Microparts along an Asymmetric Surface Fabricated by Double-Pulsed Femtosecond Laser Process(Mechanical Systems)

Transactions of the Japan Society of Mechanical Engineers Series C, 2009

Research paper thumbnail of Two-phased force and coordinates controller for a pair of 2-DOF soft fingers

2009 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2009

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