Ryuta Ozawa


Email:   


Address: Manipulation Lab.

             Dept. of Robotics, SST, Ritsumeikan University,

             1-1-1 Noji-higash, Kusatu, Shiga 525-8577 JAPAN

I was born in Tokyo, Japan, in 1974 and graduated from Mejii University in 1996. I recieved Ph.D degree from Meiji University in 2001. I worked as a Research Assistant in Meiji University from 1999 to 2002 and as a Research Fellow of the Japan Society for the Promotion of Science from 2002 to 2003. I worked as a lecturer in Department of Robotics, Ritsumeikan University from 2003 to 2008, and as an associate professor from 2009 to 2015. I have been working as a professor since 2016.

My research interests are robotic hands and robotic arm, transmissions for coupled drive systems including tendon-driven mechanisms and gear train mechanisms, variable stiffness devises, visual servoing with a UAV and so on.

Research:
The latest update of my researches are in the website on the link.


Pramo Hand: Opensource Robotic Hand Project

This project provides sources of Robotic hands with gear trains. See more details in Pramo Hand page.


Tendon-driven mechanisms

Mechanisms driven with tendons are called TENDON-DRIVEN MECHANISMS because it is similar to the masculoskeletal systems. This mechanisms often are applied to design of low-inertia manipulators such as a robotic hands, high-speed robots and human-friendly robots. Recently, the mechanisms are often installed into under-actuated mechanisms, which use less actuators than the DOF. The main application of the underactuated tendon-driven mechanisms is to build prosthetic hands. The hands usually use only a simple structure and general kinematic design method of the mechanisms have been not disscussed. Thus, we are developing the kinematic design method, and have build the robotic fingers as shown in the below picture. The left two fingers realize connected motions of PIP and DIP joints. The conneted motions are designed based on the kinematic design method and are quite different from the mechanisms, which is simply added a torsion spring into DIP joint. We are submitting the results now.

 

under-actuated tendon-driven robotic finger
Experiment: Movement of the thumb and index finger robots (Movie: 3.03MB)

Selected publications:
  H. Kobayashi, R. Ozawa : "Adaptive neural network control of tendon-driven mechanisms with elastic tendons", Automatica, Vol.39 No.9,pp.1509-1519,2003

  R. Ozawa, K. Hashirii, H. Kobayashi, "Design and Control of underactuated tendon-driven mechanisms", Proc. of the 2009 IEEE Int. Conf. on Robotics and Automation, Kobe, JAPAN, pp.1522-1527, May, 2009


Manipulation of robotic hand

Conventional dynamic manipulation methods of robotic hands require a lot of information, which includes mass, inetia, shape and position of COM of a grasped object, contact points and so on. This makes it difficult to manipulate an object in unstructure environment and to introduce robotic fingers in our daily life. We have developed a dynamic manipulation method for robotic fingers without object infomation. The demonstration can be confirmed the following movies.


Experiment: Manipulation of rectangular objects (Movie: 4.47MB)

Experiment: Manipulation of a circular object (Movie: 2.26MB)


Selected publication:

  R. Ozawa , S. Arimoto, S. Nakamura, and J.-H. Bae, "Control of an Object with Parallel Surfaces by a Pair of Finger Robots without Object Sensing", IEEE Transactions on Robotics, Vol.21 No.5, pp. 965- 976 , (2005)


Teleoperation of robotic hands

Teleoperated systems for robotic hands are usually controlled with master-slave controllers. The master-slave controller is a kinematic mapping from some quantities of human hands, which are joint angle, fingertip position and sometimes pose, to the robotic ones. Kenematic structure of both human hands and robotic hands are complex and some kinematic inconsystancy between them exists. Thus, the operation may be failed even if robotic hands perfectly tracks human hands, because the perfect kinematic mapping does not guarantee the stability of manipulation. Therefore, we construct a semi-automatic teleoperated system for robotic hands. In our method, the feedback loops of the slave controllers are closed at the slave side, and an operator only send some scalar values to the slave controllers. Thus, it is easy to execute in a real systems, even there is time delay in communication channels. A 2DOF mechanism and datagloves are used as operator's controllers. The demonstration can be confirmed the following movies.

       


Experiment: Teleoperation without timedelay (Movie: 3.93MB)

Experiment: Teleoperation with 0.5s time delay (Movie: 7.40MB)


Experiment: Teleoperation with detaglove (Movie: 5.72MB)

Experiment: Teleoperation using three-fingered tendon-driven robotic hand with datagloves (Movie: 3.35MB)



Selected publications:

  R. Ozawa, N. Ueda, "Supervisory control of a multi-fingered robotic hand with data glove ", Proc. of the 2007 IEEE Int. Conf. On Intelligent Robots and Systems (IROS), Oct 29-Nov.2, San Diego, USA, pp.1606-1611, 2007

  R. Ozawa , T. Yoshinari, H. Hashiguchi, S. Arimoto, "Supervisory Control Strategies in a Multi-Fingered Robotic Hand System", Proc. of the 2006 IEEE Int. Conf. on Intelligent Robots and Systems (IROS), OCt 9-15, Beijing, China, pp.965-970, 2006

Y. Yoshimura, R. Ozawa, "A supervisory control system for a multi-fingered robotic hand using datagloves and a haptic device", Proc. of the 2012 IEEE Int. Conf. on Robots and Systems (IROS), Vilamoura, Portugal, Dec. 11, pp. 5414-5419, 2012


Visual feedback of an unmmaned aerial vehicles

An image-based visual servoing(IBVS) is one of the representative method to stablize the robot motion using video image. In this research, we propose a IBVS for controlling the position and orientation of an unmanned aerial vehicle (UAV) using a fixed downward camera observing landmarks on the level ground. In the proposed method, the visual servoing of the image moments is used to control the vertical motion and rotation around the roll axis. In contrast, an undesired positive feedback araises in visual errors, as shown in Pheases 1 and 2 of the top left figure, because of the under-actuation of the UAV and this positive feedback makes it difficult to apply the visual servoing to the horizontal motion. Thus, a novel control method using the virtual spring is introduced to control the horizontal motion, as shown in the top right figure. This control method can stabilize the position and orientation of the UAV, as shown in the middle figures. The image during feedback is shown in the bottom figure.

   

    Positive Feedback effect              Virtual Spring method for stablizing translation    

   Error of the translational motion              Error of the rotational motion



   The camera image


Selected publications:

  Ryuta Ozawa, Francois Chaumette, " Dynamic Visual Servoing with Image Moments for an Unmanned Aerial Vehicle Using a Virtual Spring Approach", Advanced Robotics , vol. 27 No.9, pp. 683-696, 2013



Mass Estimation with a variable elastic device in microgravity

Conventional mass measurement systems such as a bath scale, a libra and so on use "GRAVITY" to weigh things. Thus, we cannot use them in microgravity envirnoment such the outer space. In this case, for example, a sample is attached at the tip of an elastic beam, and then, the period of the beam is measured to estimate the sample's weight from the natural frequency when the beam is vibrated by an external force. This method is not robust because the period is easily perturbed by disturbances.

Our developed method is to control the stiffness of the blade spring to converge the natural frequency to a desired one. The controller, which adjusts the effective length of the blade spring, is a simple integrating controller and absorbs disturbances. Thus, it can estimate sample's mass more accurately.

The left figure shows the experimental setup. The actuator unit in the below vibrates the whole upper part and the linear actuator in the right adjusts the length of blade spring. The right figure is an experimental result. The resolution of the measuement system is 0.2(g) and the maximum relative error is less than 0.5 % of the sample masses.

   

       Mass Measurement System              Time course of mass estimation


Selected publications:

  R. Ishibashi, R. Ozawa, S. Kawamura, ``Mass Estimation in microgravity with a Variable Stiffness Mechanism'', 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2007), #166, Zurich, Sep. 4-7, 2007

  R. Ozawa , H. Kobayashi: "A New Impedance Control Concept for Elastic Joint Robots", Proc. of 2003 IEEE Int. Conf. on Robotics and Automation, Taipei, Taiwan, 2003

 

Publication:

PAPERS:

Ryuta Ozawa, Kazunori Hashirii, Yotaro Yoshimura, Michinori Moriya, Hiroaki Kobayashi, " Design and Control of a Three-Fingered Tendon-Driven Robotic Hand with Active and Passive Tendons ", Autonomous Robots , vol. 36 No.1-2, pp.67-78, 2014

Ryuta Ozawa, Francois Chaumette, "Dynamic Visual Servoing with Image Moments for an Unmanned Aerial Vehicle Using a Virtual Spring Approach", Advanced Robotics , vol. 27 No.9, pp. 683-696, 2013

Shouhei Taniguchi, Hitoshi Kino, Ryuta Ozawa, Ryota Ishibashi, Mitsunori Uemura, Katsuya Kanaoka, Sadao Kawamura, "Inverse dynamics of human passive motion based on iterative learning control", IEEE Trans. on Systems, Man and Cybernetics Part.A , 42(2), pp. 307-315, 2012

Kenji Tahara, Suguru Arimoto, Ryuta Ozawa, Zhi Wei Luo, "Biomimetic Pinching Movements of a Musculo-Skeletal Dual-Finger Model", Advanced Robotics Vol.25 No.1-2, pp.175-204, 2011

K. Shigetoshi,T. Isaka,R.Ozawa,T. Morizono,S. Kawamura, " Measurement and Analysis on Human Torque/Angular Velocity/Angle Position Characteristics Using Isoviscous Loading ", Transactions of the Japan Society of Mechanical Engineers. C Vol.75 No.750, pp.343-348, 2008, in Japanese

A. Nakamura, R. Ozawa, S. Goto,S. Kawamura,Y. Hatanaka, "Development of a Gait Feedback Control System for Ankle Foot Orthoses with a Penumatic Passive Element", Transactions of the Society of Instrument and Control Engineers Vol. 44 No. 12, pp.956-961, 2008, in Japanese (The Best Paper Award of the Trans. of SICE in 2009, The excellent paper award from Fluid Power Technology Promotion Foundation in 2010 )

R. Ishibashi, R. Ozawa, S. Kawamura, "Development of Mass Measurement System in Microgravity with a Variable Stiffness Mechanism", Transaction of SICE, Vol.43 No.118,pp.1007-1014,2007, in Japanese

S. Taniguchi, R. Ozawa, S. Kawamura, "Inertial Parameters Identification of Human Body by Using Time-Scale Transformation and Passive Motion",Transaction of SICE, Vol.43 No.5,pp.428-434,2007, in Japanese

J.-H. Bae, S.Arimoto, M. Sekimoto and R.Ozawa, "Dexterity and versatility in the pinching motion of robot fingers with multi-degrees of freedom", Advanced Robotics, Vol.20 No.2 pp.137-164, 2006

S. Taniguchi, S. Goto, M. Nakatsuka, R. Ozawa , K. Kanaoka, H. Kino, S. Kawamura, "Joint Torque Analysis for Humans in Underwater Environment with Parallel Wire Driven Systems", Trans. of the Japan Society of Mechanical Engineers C, Vol. 72, No. 714, pp. 186-192, 2006, in Japanese

S. Arimoto, H. Hashiguchi, M. Sekimoto and R. Ozawa , "Generation of Natural Motions for Redundant Multi-joint Systems: A Differential-Geometric Approach Based upon the Principle of Least Actions, Journal of Robotic Systems, Vol. 22 No.11, pp. 583-605, 2005

R. Ozawa , S. Arimoto, S. Nakamura, and J.-H. Bae, "Control of an Object with Parallel Surfaces by a Pair of Finger Robots without Object Sensing", IEEE Transactions on Robotics, Vol.21 No.5, pp. 965- 976 , (2005)

S. Arimoto, M. Sekimoto and R. Ozawa , "A Challenge to Bernstein's Degrees-of-Freedom Problem in Both Cases of Hman and Robotic Multi-Joint Movements, IEICE Transactions on Fndamentals of Electroinics, Communications and Computer Sciences, Vol. E88-A No. 10, pp. 2484-2495, 2005

S. Taniguchi, R. Ozawa, N. Sakagami and S. Kawamura, "Joint Torque Decomposition of Human Body in Passive Motion", Transaction of SICE,, Vol.41 No.9 pp.763-771, 2005, in Japanese

S. Arimoto, M. Sekimoto, H. Hashiguchi, and R. Ozawa , "Natural resolution of ill-posedness of inverse kinematics for redundant robots: A challenge to Bernstein's degrees-of-freedom problem", Advanced Robotics , Vol. 19 No.4, pp.401-434, (2005). (The Best Paper Award of the Robotics Society of JAPAN in 2007)

S. Arimoto, H. Hashiguchi, R. Ozawa , "A simple control method coping with a kinematically ill-posed inverse problem of redundant robots: analysis in case of a handwriting robot ", Asian Journal of Control , Vol. 7, No.2, pp.112-123 (2005)

H. Hashiguchi, S. Arimoto, R. Ozawa "Control of a Handwriting Robot with DOF Redundancy Based on Feedback in Task Coordinates ",Vol.16 No.4., Journal of Robotics and Mechatronics, pp. 381-387, 2004

S. Arimoto, J.-H. Bae,H. Hashiguchi, and , R. Ozawa, "Natural resolution of ill-posedness of inverse kinematics for redundant robots under constraints ",Communications in Information and Systems , Vol. 4, No. 1, pp. 1-28,2004.

S. Taniguchi, R. Ozawa , R. Ishibashi, M. Uemura, K. Kanaoka, J. Kino, S. Kawamura: "Development of a Human Joint Torque Estimation System applying Passive Motion with Parallel Wire Driven Mechanism", Transaction of SICE, Vol.40 No.8,pp.,2004, in Japanese

H. Kobayashi, R. Ozawa :"Adaptive neural network control of tendon-driven mechanisms with elastic tendons", Automatica, Vol.39 No.9,pp.1509-1519,2003

R. Ozawa , H. Kobayashi: Set-point Force Control of Tendon-driven Robotic Mechanisms with Nonlinear Tendon Elasticity, Journal of the Robotics Society of Japan, Vol.19 No.3,pp.372-379,2001, in Japanese

R. Ozawa , H. Kobayashi: Control of Tendon-Driven Mechanical Systems with Nolinear Elastic Tendons, Journal of the Robotics Society of Japan, Vol.17 No.2,pp.275-281,1999, in Japanese

 

INTERNATIONAL CONFERENCES:

R. Ozawa, J. Ishizaki , "Passivity-Based Symmetric Posture Control and the Effects of Mass Distribution and Internal Impedance on Balance", Proc. of the 2011 IEEE Int. Conf. on humanoids, Osaka, Japan, Nov. 30, pp171-176, 2012

D. Sawada, R. Ozawa, " Joint control of tendon-driven mechanisms with branching tendons",Proc. of the 2012 Conf. on Robotics and Automation, Minnesota, USA, May 15, pp. 1501-1507, 2012

R. Ozawa, M. Moriya, " Passivity-Based Balance Control for a Biped Robot",Proc. of the 2011 Conf. on Robotics and Automation, Shanghai, China, May 5-13, pp550-556, 2011

R. Ozawa, F. Chaumette , "Dynamic Visual Servoing with Image Moments for a Quadrotor Using a Virtual Spring Approach", Proc. of the 2011 Conf. on Robotics and Automation, Shanghai, China, May 5-13, pp5670-5676, 2011

R. Ozawa, M. Moriya, "Effects of elasticity on an under-actuated tendon-driven robotic finger ", Proc. of the 2007 IEEE Int. Conf. On Robotics and Biomimmetics(ROBIO),Dec.14-18, Tianjin, China, pp.891-896, 2010

R. Ozawa,Y. Kojima, "Control of a powered biped without ankle actuation ", Proc. of the 2010 IEEE Int. Conf. On Intelligent Robots and Systems (IROS) Taipei, Taiwan, Oct.18-22, pp.3717-3722, 2010

R. Ozawa, Y. Oobayashi, "Adaptive task space PD control via implicit use of visual information", Proc. of the Inter. Symp. on Robot Control," Gifu, Japan, pp.209-215, Sep. 2009

R. Ozawa, K. Hashirii, H. Kobayashi, "Design and Control of underactuated tendon-driven mechanisms", Proc. of the 2009 IEEE Int. Conf. on Robotics and Automation, Kobe, JAPAN, pp.1522-1527, May, 2009

R. Ishibashi, R.Ozawa, S. Kawamura, "Experimental verification of the mass measurement device in microgravity with a prismatic variable stiffness mechanism", Inter. Conf. on machine automation, Awajishima, JAPAN, Sep.

R. Ozawa, N. Ueda, "Supervisory control of a multi-fingered robotic hand with data glove ", Proc. of the 2007 IEEE Int. Conf. On Intelligent Robots and Systems (IROS), Oct 29-Nov.2, San Diego, USA, pp.1606-1611, 2007

R. Ishibashi, R. Ozawa, S. Kawamura, ``Mass Estimation in microgravity with a Variable Stiffness Mechanism'', 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2007), #166, Zurich, Sep. 4-7, 2007

R. Ozawa , T. Yoshinari, H. Hashiguchi, S. Arimoto, "Supervisory Control Strategies in a Multi-Fingered Robotic Hand System", Proc. of the 2006 IEEE Int. Conf. on Intelligent Robots and Systems (IROS), OCt 9-15, Beijing, China, pp.965-970, 2006

P. T. A. Nguyen, R. Ozawa , S. Arimoto, "Manipulation of a circular object by a pair of multi-DOF robotic fingers ", Proc. of the 2006 IEEE Int. Conf. on Intelligent Robots and Systems (IROS), OCt 9-15, Beijing, China, pp.5669-5674, 2006

R. Ozawa , J.-H. Bae, S. Arimoto, "Multi-fingered Dynamic Blind Grasping with Tactile Feedback in a Horizontal Plane", Proc. of the 2006 IEEE Int. Conf. on Robotics and Automation, May 15-19, Orlando, Florida, pp.1006-1011, 2006

J.-H. Bae, S. Arimoto、 R. Ozawa 、M. Sekimoto,M. Yoshida, "A Unified Control Scheme for a Whole Robotic Arm-Fingers Systems in Grasping and Manipulation", Proc. of the 2006 IEEE Int. Conf. on Robotics and Automation, May 15-19, Orlando, Florida, pp. 2131-2136, 2006

K. Tahara, Z.-W. Luo, R. Ozawa 、 J.-H. Bae, S. Arimoto, "Bio-Mimetic Study on Pinching Motions of A Dual-Finger Model with Synergistic Actuation of Antagonist Muscles", Proc. of the 2006 IEEE Int. Conf. on Robotics and Automation, May 15-19, Orlando, Florida, pp.994-999, 2006 (A Finalist of the Best Manipulation Paper Award in ICRA'06)

K. Shigetoshi, R. Ozawa, T. Isaka and S. Kawamra, "Developement of strength training Machine system with a new concept", Proc. of the impact of technology on sport (APCST), Tokyo, Japan, pp.57-61, 2005

R. Ozawa, S. Arimoto, P. T. A. Nguyen, M. Yoshida and J.-H. Bae : "Manipulation of a circular object without object information", Proc. of the 2005 IEEE Int. Conf. on Intelligent Robots and Systems (IROS), Aug. 2-6, Edmonton, Alberta, Canada, 2005

Suguru Arimoto, Masahiro Sekimoto and Ryuta Ozawa : "Can Newtonian Mechanics Aid in the Development of Brain Science?:A Challenge to Bernstein's Degrees-of-Freedom Problem", The First International Conference on Complex Medical Engineering(CME2005), May 15-18, Takamatsu, Japan, 2005

Shohei Taniguchi, Ryuta Ozawa , Norimitsu Sakagami, Hitoshi Kino and Sadao Kawamura, "Estimation and Decomposition of Human Joint Torque in Passive Motion", The First International Conference on Complex Medical Engineering(CME2005), May 15-18, Takamatsu, Japan, 2005

S. Arimoto, R. Ozawa , and M. Yoshida: "Two-dimensional stable blind grasping under the gravity effect", Proc. of the 2005 IEEE Int. Conf. on Robotics and Automation , April 18-22, Barcelona, Spain, (2005) (A Finalist of the Best Manipulation Paper Award in ICRA'05)

J.-H. Bae, S. Arimoto, R. Ozawa , and M. Sekimoto: "Enhancement of dexterity in robotic grasping referring to characteristics of human grasping", Proc. of the 2005 IEEE Int. Conf. on Robotics and Automation , April 18-22, Barcelona, Spain, (2005)

S. Arimoto, M. Sekimoto, H. Hashiguchi, and R. Ozawa , "Physiologically Inspired Robot Control: A Challenge to Bernstein‘s Degrees-of-Freedom Problem", Proc. of the 2005 IEEE Int. Conf. on Robotics and Automation , April 18-22, Barcelona, Spain, (2005)

S. Arimoto, M. Sekimoto, R. Ozawa , and M. Yoshida: "Natural resolution of ill-posed inverse kinematics for redundant robots: A challenge to Bernstein's degrees-of-freedom problem", Proc. of Complex Systems Intelligence and Modern Technology Applications (CSIMTA) 2004, Sept. 19-22, Cherbourg, France, pp. 620-627 (2004)

M. Yoshida, S. Arimoto, and R. Ozawa : "Feasibility study of pinching of a rigid object with non-parallel flat surfaces", Proc. of 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems , Sept. 28 - Oct. 2, Sendai, Japan, pp. 3680-3685 (2004)

H. Hashiguchi, S. Arimoto, and R. Ozawa : "A sensory feedback method for a handwriting robot with D.O.F. redundancy", Proc. of 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems , Sept. 28 - Oct. 2, Sendai, Japan, pp. 3918-3923 (2004)

M. Yoshida, S. Arimoto, and R. Ozawa : "Feasibility study of pinching of a rigid object with non-parallel flat surfaces", Proc. of 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems , Sept. 28 - Oct. 2, Sendai, Japan, pp. 3680-3685 (2004).

R. Ozawa , S. Arimoto, P.T.A. Nguyen, M. Yoshida, and J.-H. Bae: "Manipulation of a circular object in a horizontal plane by two finger robots" , Proc. of IEEE Int. Conf. on Robotics and Biomimetics, Shengyang, China, Augst, paper no. 291, 2004 (A Finalist of the Best Paper Award and the Best Paper Award in Robotics in ROBIO'04)

J.-H. Bae, S. Arimoto, M. Sekimoto and R. Ozawa : "Dexterity Analysis of Human and Robotics Grasping Motions from the Viewpoint of Dynamics", Proc. of IEEE Int. Conf. on Robotics and Biomimetics, Shenyang, China, August, paper no.217, 2004

H. Hashiguchi, S. Arimoto, and R. Ozawa : "A Sensory Feedback Method for Control of a Handwriting Robot with DOF-Redundancy", Proc. on 2004Japan-USA Flexible Automation, Dember, July, 2004 (The Winner of the Best Paper Award in JASFA'04)

R. Ozawa , S. Arimoto, S. Nakamura, M. Yoshida: "Stable grasping and relative angle control of an object by dual finger robots without object sensing", Proc. of 2004 IEEE Int. Conf. on Robotics and Automation, New Orleans, LA, April, pp.1694-1699, 2004 (A Finalist of the Best Manipulation Paper Award in ICRA'04)

S. Arimoto, J.-H. Bae, H. Hashiguchi, and R. Ozawa :"Why Does Surplus DOF of Robot Fingers Enhance Dexterity of Object Manipulation?: Analysis and Simulation of Overall Fingers-Object Dynamics", Proc. of 2004 IEEE Int. Conf. on Robotics and Automation, New Orleans, LA, April, pp.2936-2943 ,2004

R. Ozawa , H. Kobayashi: "A New Impedance Control Concept for Elastic Joint Robots", Proc. of 2003 IEEE Int. Conf. on Robotics and Automation, Taipei, Taiwan, 2003

R. Ozawa , H. Kobayashi: Response Characteristics of Elastic Joint Robots Driven by Various Types of Controllers against External Disturbances, Proc. of the 6th Inter. Conf. on Motion and Vibration Control, Saitama, Japan, August, pp.420-425, 2002

R. Ozawa , H. Kobayashi: Stability of PD Control Systems of Tendon-Driven Mechanisms with Nonlinear Tendon Elasticity, Proc. of 2000 Japan-USA Flexible Automation, Ann Aber, Michigan, July, 2000

R. Ozawa , H. Kobayashi: Control of Coupled Tendon-Driven Mechanisms with Nolinear Tendon Elasticity, Proc. Pioneering Int. Symp. on Motion and Vibration Control in Mechatronics, Tokyo, Japan, April, pp.151-156, 1999

WORKSHOP

R. Ozawa, K. Tahara, J.-H. Bae: "Robust, cheap and dextrous manipulation", at IROS 2012 Workshop: Beyond Robot Grasping - Modern Approaches for Learning Dynamic Manipulation

AWARDS and NOMINATIONS:

The Best Paper Award of the Trans. of SICE in 2009

The excellent paper award from Fluid Power Technology Promotion Foundation in 2010

The Best Paper Award of the Robotics Society of Japan in 2007

The young incentive award, Dept. of System Integration in The Society of Instrument and Control Engineers in 2006

A Finalist, the Best Manipulation Paper Award in ICRA'06

A Finalist, the Best Manipulation Paper Award in ICRA'05

A Finalist, the Best Paper Award in Robotics and the Best Paper Award in ROBIO'04

The Winner, the Best Paper Award in JASFA'04

A Finalist, the Best Manipulation Paper Award in ICRA'04