Priprents

Publications (selected, go to my ResearchMap for a full list)

• [Preprint] Mengxin Xu, Weiwei Wan, Hesheng Wang, Kensuke Harada, Direction-Constrained Control for Efficient Physical Human-Robot Interaction under Hierarchical Tasks, arXiv:2410.16922, 2024.

• [Preprint] Hao Chen, Weiwei Wan, Masaki Matsushita, Takeyuki Kotaka, Kensuke Harada, Robotic Test Tube Rearrangement Using Combined Reinforcement Learning and Motion Planning, arXiv:2401.09772, 2024.

• Development of a Miniature Photometric Vision-Based Tactile Sensor, Yuan Gao, Shixin Zhang, Weiwei Wan, Bin Fang, Fuchun Sun, and Kensuke Harada, IEEE Sensors Journal, 2024.
• Integrating a Manual Pipette into a Collaborative Robot Manipulator for Flexible Liquid Dispensing, Junbo Zhang, Weiwei Wan, Nobuyuki Tanaka, Miki Fujita, and Kensuke Harada, IEEE Transactions on Automation Science and Engineering (TASE), 2023. Video
• Automatically Prepare Training Data for YOLO Using Robotic In-Hand Observation and Synthesis, Hao Chen, Weiwei Wan, Masaki Matsushita, Takeyuki Kotaka, and Kensuke Harada, IEEE Transactions on Automation Science and Engineering (TASE), 2023. Video
• TAMP for 3D Curving – A Low-Payload Robot Arm Works Aside a Bending Machine to Curve High-Stiffness Metal Wires, Ruishuang Liu, Weiwei Wan, and Kensuke Harada, IEEE Transactions on Automation Science and Engineering (TASE), 2023. Video.
• Implicit Contact-Rich Manipulation Planning for a Manipulator with Insufficient Payload, Kento Nakatsuru, Weiwei Wan, and Kensuke Harada, Robotic Intelligence and Automation, 2023. Video
• In-Hand Pose Estimation Using Hand-Mounted RGB Cameras and Visuotactile Sensors, Yuan Gao, Shogo Matsuoka, Weiwei Wan, Takuya Kiyokawa, Keisuke Koyama, and Kensuke Harada, IEEE Access, 2023. Video
• Body Extension Using Two Mobile Manipulators, Yusuke Hirao, Weiwei Wan, Dimitrios Kanoulas, and Kensuke Harada, Cyborg and Bionic Systems, 2023. Video
• Reducing Uncertainty Using Placement and Regrasp Planning on a Triangular Corner Fixture, Zhengtao Hu, Weiwei Wan, Keisuke Koyama, and Kensuke Harada, IEEE Transactions on Automation Science and Engineering (TASE), 2023 (IEEE version will be available Soon). Video
• A Dual-Arm Robot that Manipulates Heavy Plates Cooperatively with a Vacuum Lifter, Shogo Hayakawa, Weiwei Wan, Keisuke Koyama, and Kensuke Harada, IEEE Transactions on Automation Science and Engineering (TASE), 2022. Video
• Obtaining an Object’s 3D Model Using Dual-Arm Robotic Manipulation and Stationary Depth Sensing, Sho Kobayashi, Weiwei wan, Takuya Kiyokawa, Keisuke Koyama, and Kensuke Harada, IEEE Transactions on Automation Science and Engineering (TASE), 2022.
• Metal Wire Manipulation Planning for 3D Curving – How a Low Payload Robot Can Use a Bending Machine to Bend Stiff Metal Wire, Ruishuang Liu, Weiwei Wan, Emiko Tanaka Isomura, and Kensuke Harada, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022. Video (IEEE Robotics and Automation Society Japan Joint Chapter Young Award)
• Robotic Replacement for Disc Cutters in Tunnel Boring Machines, Liang Du, Jianjun Yuan, Sheng Bao, Renming Guan, and Weiwei Wan, Automation in Construction, 2022.
• Planning to Build Block Structures with Unstable Intermediate States Using two Manipulators, Hao Chen, Weiwei Wan, Keisuke Koyama, and Kensuke Harada, IEEE Transactions on Automation Science and Engineering (TASE), 2021 (Online soon). Video (Reported by IEEE Spectrum Video Friday)
• A Dual-arm Robot that Autonomously Lifts Up and Tumbles Heavy Plates Using Crane Pulley Blocks, Shogo Hayakawa, Weiwei Wan, Keisuke Koyama, and Kensuke Harada, IEEE Transactions on Automation Science and Engineering (TASE), 2021. Video
• Arranging Test Tubes in Racks Using Combined Task and Motion Planning, Weiwei Wan, Takeyuki Kotaka, Kensuke Harada, Robotics and Autonomous Systems, 2021. Main Video, Side Video 1, Side Video 2.
• Robust Robotic 3D Drawing using Closed-loop Planning and Online Picked Pens, Ruishuang Liu, Weiwei Wan, Keisuke Koyama, and Kensuke Harada, IEEE Transactions on Robotics (TRO), 2021. Video (Reported by IEEE Spectrum Video Friday) (IEEE Robotics and Automation Society Japan Joint Chapter Young Award)
• Four-Arm Collaboration: Two Dual-Arm Robots Work Together to Maneuver Tethered Tools, Daniel Sanchez, Weiwei Wan and Kensuke Harada, IEEE Transactions on Mechatronics (TMech), 2021. Video (Reported by IEEE Spectrum Video Friday)
• A Mechanical Screwing Tool for 2-Finger Parallel Grippers – Design, Optimization, and Manipulation Policies, Zhengtao Hu, Weiwei Wan, Keisuke Koyama, and Kensuke Harada, IEEE Transactions on Robotics (TRO), 2021. Video1 Video2
• Optimization-based Online Initialization and Calibration of Monocular Visual-Inertial Odometry Considering Spatial-Temporal Constraints, Weibo Huang, Weiwei Wan, and Hong Liu, Sensors, 2021.
• Planning to Repose Long and Heavy Objects Considering a Combination of Regrasp and Constrained Drooping, Mohamed Raessa, Weiwei Wan, Keisuke Koyama, and Kensuke Harada, Assembly Automation (AA), 2021. Video
• Planning to Flip Heavy Objects Considering Soft-Finger Contacts, Mohamed Raessa, Weiwei Wan, Keisuke Koyama, and Kensuke Harada, International Journal on Autonmation Technology (IJAT), 2021.
• Contact Space Computation of Two-Finger Gravity Based Caging Grasps Security Measure, Alon Shirizly, Elon D. Rimon, Weiwei Wan, IEEE Robotics and Automation Letters (RAL), 2021.
• Planning Grasps with Suction Cups and Parallel Grippers Using Superimposed Segmentation of Object Meshes, Weiwei Wan, Kensuke Harada, and Fumio Kanehiro, IEEE Transactions on Robotics (TRO), 2021. Video, BibTex
• Integrating Combined Task and Motion Planning with Compliant Control, Hao Chen, Juncheng Li, Weiwei Wan, Zhifeng Huang, and Kensuke Harada, International Journal of Intelligent Robotics and Applications (JIRA), 2020. Video 1, Video 2, Bibtex
• Human-in-the-loop Robotic Manipulation Planning for Collaborative Assembly, Mohamed Raessa, Jimmy Chi Yin Chen, Weiwei Wan, and Kensuke Harada, IEEE Transactions on Automation Science and Engineering (TASE), 2020. Video, BibTex
• Tethered Tool Manipulation Planning with Cable Maneuvering, Daniel Sanchez, Weiwei Wan, and Kensuke Harada, IEEE Robotics and Automation Letters (RAL with ICRA option), 2020. Video, BibTex
• Planning an Efficient and Robust Base Sequence for a Mobile Manipulator Performing Multiple Pick-and-place Tasks, Jingren Xu, Kensuke Harada, Weiwei Wan, Toshio Ueshiba, Yukiyasu Domae, IEEE International Conference on Robotics and Automation (ICRA), 2020. Video
• Robotic General Parts Feeder: Bin-picking, Regrasping, and Kitting, Yukiyasu Domae, Akio Noda, Tatsuya Nagatani, Weiwei Wan, IEEE International Conference on Robotics and Automation (ICRA), 2020.
• Geometric Characterization of Two-Finger Basket Grasps of 2-D Objects–Contact Space Formulation, Elon Rimon, Florian Pokorny, Weiwei Wan, IEEE International Conference on Robotics and Automation (ICRA), 2020.
• Towards Tethered Tool Manipulation Planning with the Help of a Tool Balancer, Daniel Sanchez, Weiwei Wan, and Kensuke Harada, Journal of Robotics, 2020. BibTex
• An Online Initialization and Self-Calibration Method for Stereo Visual-Inertial Odometry, Weibo Huang, Hong Liu, and Weiwei Wan, IEEE Transactions on Robotics (TRO), 2020.
• Preparatory Manipulation Planning using Automatically Determined Single and Dual Arms, Weiwei Wan, Kensuke Harada, and Fumio Kanehiro, IEEE Transactions on Industrial Informatics (TII), 2020. Bibtex
• Re-posing Objects Considering Bipedal Stability Constraints: An Approach for Stability Preservation during Humanoid Manipulation, Daniel Sanchez, Weiwei Wan, Fumio Kanehiro, and Kensuke Harada, International Journal of Humanoid Robotics (IJHR), 2019. Bibtex
• Survey of Optimal Motion Planning, Yajue Yang, Jia Pan, and Weiwei Wan, IET Cyber Systems and Robotics, 2019.
• Improved Trajectory Planning Method for Space Robot-System with Collision Prediction, Yingjie Qian, Jianjun Yuan, and Weiwei Wan, Journal of Intelligent & Robotic Systems, 2019.
• Combined Task and Motion Planning for a Dual-arm Robot to Use a Suction Cup Tool, Hao Chen, Weiwei Wan, and Kensuke Harada, IEEE/RAS International Conference on Humanoid Robots (Humanoids), 2019. Video
• Dual-arm Assembly Planning Considering Gravitational Constraints, Ryota Moriyama, Weiwei Wan, and Kensuke Harada, IEEE International Conference on Intelligent Robots and Systems (IROS), 2019. Video
• Quickly Inserting Pegs into Uncertain Holes using Multi-view Images and Deep Network Trained on Synthetic Data, Joshua Triyonoputro, Weiwei Wan, and Kensuke Harada, IEEE International Conference on Intelligent Robots and Systems (IROS), 2019. Video, BibTex
• Designing a Mechanical Tool for Robots with 2-Finger Parallel Grippers, Zhengtao Hu, Weiwei Wan, and Kensuke Harada, IEEE Robotics and Automation Letters (RAL with IROS option), 2019. Video (Reported by IEEE Spectrum Video Friday, IEEE RAS JJC Young Award)
• Arm Manipulation Planning of Tethered Tools with the Help of a Tool Balancer, Daniel Sanchez, Weiwei Wan, and Kensuke Harada, The 15th IFToMM World Congress, 2019. Video (Best Paper Award Finalist)
• Teaching a Robot to Use Electric Tools with Regrasp Planning, Mohamed Raessa, Daniel Sanchez, Weiwei Wan, Damien, Petit, and Kensuke Harada, IET CAAI Transactions on Intelligent Technology (TIT), 2019. (Invited by CAAI, Fig.1 selected as the cover image of the issue)
• A Hand Combining Two Simple Grippers to Pick up and Arrange Objects for Assembly, Kaidi Nie, Weiwei Wan, and Kensuke Harada, IEEE Robotics and Automation Letters (RAL with ICRA option), 2019. Video
• A Regrasp Planning Component for Object Reorientation, Weiwei Wan, Higashi Igawa, Kensuke Harada, Hiromu Onda, Kazuyuki Nagata, and Natsuki Yamanobe, Autonomous Robots (AURO), 2018. Bibtex
• A Double Jaw Hand Designed for Multi-object Assembly, Joshua Triyonoputro, Weiwei Wan, and Kensuke Harada, IEEE/RAS International Conference on Humanoid Robots (Humanoids), 2018. Video, BibTex
• Regrasp Planning Considering Bipedal Stability Constraints, Daniel Sanchez, Weiwei Wan, Kensuke Harada, and Fumio Kanehiro, IEEE/RAS International Conference on Humanoid Robots (Humanoids), 2018. Video, BibTex
• Experiments on Learning-based Industrial Bin-picking with Iterative Visual Recognition, Kensuke Harada, Weiwei Wan, Tokuo Tsuji, Kohei Kikuchi, Kazuyuki Nagata, and Hiromu Onda, Industrial Robots: An International Journal, 2018. BibTex
• Regrasp Planning Using Stable Object Poses Supported by Complex Structures, Jiayao Ma, Weiwei Wan, Kensuke Harada, Qiuguo Zhu, and Hong Liu, IEEE Transactions on Cognitive and Developmental Systems (TCDS), 2018. BibTex
• An Adaptive Robotic Gripper with L-shape Fingers, Kaidi Nie, Weiwei Wan, and Kensuke Harada, IEEE International Conference on Intelligent Robots and Systems (IROS), 2018. BibTex
• Deep Learning Scooping Motion using Bilateral Tele-operation, Hitoe Ochi, Weiwei Wan, Yajue Yang, Natsuki Yamanobe, Jia Pan, and Kensuke Harada, IEEE International Conference on Advanced Robots and Mechatronics, 2018. (Best Paper Award Finalist)
• A Brief Review of Affordance in Robotic Manipulation Research, Natsuki Yamanobe, Weiwei Wan, Ixchel G. Ramirez-Alpizar, Damien Petit, Tokuo Tsuji, Shuichi Akizuki, Manabu Hashimoto, Kazuyuki Nagata, and Kensuke Harada, Advanced Robotics (TDAR), 2017. BibTex
• Assembly Sequence Planning for Motion Planning, Weiwei Wan, Kensuke Harada, and Kazuyuki Nagata, Assembly Automatoin (AA), 2017. BibTex
• A Survey of Robotic Caging and Its Applications, Satoshi Makita and Weiwei Wan, Advanced Robotics (TDAR), 2017. BibTex
• Multi-robot Object Transport via Robust Caging, Weiwei Wan, Boxin Shi, Zijian Wang, and Rui Fukui, IEEE Transactions on Systems, Man, and Cybernetics (TSMC), 2017. BibTex
• Regrasp Planning using 10,000s of Grasps, Weiwei Wan and Kensuke Harada, IEEE International Conference on Intelligent Robots and Systems (IROS), 2017. BibTex, Digest
• Teaching Robots to Do Object Assembly using Multi-modal 3D Vision, Weiwei Wan, Feng Lu, Zepei Wu, and Kensuke Harada, Neurocomputing, 2017.
• Integrated Assembly and Motion Planning using Regrasp Graphs, Weiwei Wan and Kensuke Harada, Robotics and Biomimetics (ROBB), 2016. BibTex
• Iterative Visual Recognition for Learning Based Randomized Bin-Picking, Kensuke Harada, Weiwei Wan, Tokuo Tsuji, Kohei Kikuchi, Kazuyuki Nagata, and Hiromu Onda, International Symposium on Experimental Robotics (ISER), 2016.
• An Empirical Comparison Among the Effect of Different Supports in Sequential Robotic Manipulation, Chao Cao, Weiwei Wan, Jia Pan, and Kensuke Harada, IEEE International Conference on Intelligent Robots and Systems (IROS), 2016. Video, BibTex (IROS Travel Grant, IEEE Robotics and Automation Society)
• Efficient Planar Caging Test using Space Mapping, Weiwei Wan and Fukui Rui, IEEE Transactions on Automation Scrience and Engineering (TASE), 2016.
• Initial Experiments on Learning-based Randomized Bin-Pikcing Allowing Finger Contact with Neighboring Objects, Kensuke Harada, Weiwei Wan, Tokuo Tsuji, Kohei Kikuchi, Kazuyuki Nagata, and Hiormu Onda, IEEE International Conference on Automation Science and Engineering (CASE), 2016. Video
• DoraPicker: An Autonomous Picking System for General Objects, Hao Zhang, Dandan Zhou, Zhongfeng Qian, Zheng Wang, Weiwei Wan, Dinesh Manocha, Chonhyon Park, Tommy Hu, Chao Cao, Yibo Chen, Marco Chow, and Jia Pan, IEEE International Conference on Automation Science and Engineering (CASE), 2016. Video (Technical Report of the Alibaba team @ Amazon Picking Challenge 2015)
• Achieving High Success Rate in Dual-arm Handover Using Large Number of Candidate Grasps, Handover Heuristics, and Hierarchical Search, Weiwei Wan and Kensuke Harada, Advanced Robotics (TDAR), 2016. BibTex
• Integrated Single-arm Assembly and Manipulation Planning using Dynamic Regrasp Graphs, Weiwei Wan and Kensuke Harada, IEEE International Conference on Real-time Computing and Robotics (RCAR), 2016. (Best Paper Award Finalist)
• Rope Caging and Grasping, Tsz Ho Kwok, Weiwei Wan, Jia Pan, Charlie C.L. Wang, Jianjun Yuan, Kensuke Harada, and Yong Chen. IEEE International Conference on Robotics and Automation (ICRA), 2016. Motivation, Video, BibTex
• Analyzing the Utility of a Support Pin in Sequential Robotic Manipulation, Chao Cao, Weiwei Wan, Jia Pan, and Kensuke Harada. IEEE International Conference on Robotics and Automation (ICRA), 2016. Video, BibTex (Work Done by a Second-year Undergraduate Student)
• Developing and Comparing Single-arm and Dual-arm Regrasp, Weiwei Wan and Kensuke Harada. IEEE Robotics and Automation Letters (RAL), 2016. Videos of this work: Video1 Simulation Video2 Real-world Execution Video3 Failure Highlights, BibTex
• Reorientating Objects with a Gripping Hand and a Table Surface, Weiwei Wan and Kensuke Harada. IEEE/RAS International Conference on Humanoid Robots (Humanoids), 2015. Video, BibTex
• Divide-And-Conquer Manipulation Planning by Lazily Searching a Weighted Two-Layer Manipulation Graph, Weiwei Wan and Kensuke Harada, IEEE International Workshop on Advanced Robotics and its SOcial impacts (ARSO), 2015. Video, BibTex
• Optimizing the Parameters of Tilting Surfaces in Robotic Workcells, Weiwei Wan, Earnest C. H. Cheung, Jia Pan, and Kensuke Harada, IEEE International Conference on Automation Science and Engineering (CASE), 2015. BibTex
• Improving Regrasp Algorithms to Analyze the Utility of Work Surfaces in a Workcell, Weiwei Wan, Matthew T. Mason, Rui Fukui, and Yasuo Kuniyoshi, IEEE International Conference on Robotics and Automation (ICRA), 2015. Video, BibTex
• Finger-position Optimization using Caging Qualities, Weiwei Wan and Rui Fukui, Signal Processing, 2015.
• A Robust Vision Module for Humanoid Robotic Ping-Pong Game, Xiaopeng Chen, Qiang Huang, Weiwei Wan, Mingliang Zhou, Zhangguo Yu, Weimin Zhang, Awais Yasin, Han Bao, and Fei Meng, International Journal of Advanced Robotic Systems (IJARS), 2015. Video
• Automated Construction System of Robot Locomotion and Operation Platform for Hazardous Environments - Basic System Design and Feasibility Study of Module Transferring and Connecting Motions, Rui Fukui, Yuta Kato, Ryo Takahashi, Weiwei Wan, and Masayuki Nakao, Journal of Field Robotics (JFR), 2014.
• Design and Prototyping a Cable-driven Multi-stage Telescopic Arm for Mobile Surveillance Robots, Jianjun Yuan, Weiwei Wan, Kaiwei Chen, Qi Fang, and Weijun Zhang, IEEE International Conference on Robotics and Biommetics (ROBIO), 2014.
• How to Manipulate Robustly an Object with Only one Actuator (An application of Caging), Weiwei Wan, Fukui Rui, Masamichi Shimosaka, Tomomasa Sato, and Yasuo Kuniyoshi, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013. Video
• A New “Grasping by Caging” Solution by Using Eigen-shapes and Space Mapping, Weiwei Wan, Fukui Rui, Masamichi Shimosaka, Tomomasa Sato, and Yasuo Kuniyoshi, IEEE International Conference on Robotics and Automation (ICRA), 2013. Video (IEEE RAS JJC Young Award)
• Design of Distributed End-effectors for Caging-specialized Manipulator (Design Concept and Development of Finger Component), Rui Fukui, Keita Kadowaki, Yamato Niwa, Weiwei Wan, Masamichi Shimosaka, and Yasuo Kuniyoshi, International Symposium on Experimental Robotics (ISER), 2012.
• Cooperative Manipulation with Least Number of Robots via Robust Caging, Weiwei Wan, Rui Fukui, Masamichi Shimosaka, Tomomasa Sato, and Yasuo Kuniyoshi, IEEE/AMSE International Conference on Advanced Intelligent Mechatronics (AIM), 2012. Video
• Grasping by Caging – A Promising Tool to Deal with Uncertainty, Weiwei Wan, Fukui Rui, Masamichi Shimosaka, Tomomasa Sato, and Yasuo Kuniyoshi, IEEE International Conference on Robotics and Automation (ICRA), pp.5142-5149, 2012. Video, Bibtex
• On the Caging Region of a Third Finger with Object Boundary Clouds and Two Given Contact Positions. Weiwei Wan, Fukui Rui, Masamichi Shimosaka, Tomomasa Sato, and Yasuo Kuniyoshi, IEEE International Conference on Robotics and Automation (ICRA), pp.4154-4161, 2012.
• A Dynamic Sub-goal Path Planner for Unpredictable Environments. Hong Liu and Weiwei Wan, IEEE International Conference on Robotics and Automation (ICRA), pp.994-1001, 2010.
• Adaptive Replanning in Hard Changing Environments. Hong Liu and Weiwei Wan, IEEE/RSJ International Conference on Robotics and Automation (ICRA), pp.5912-5918, 2010.
• Collaboration of Spatial and Feature Attention for Visual Tracking. Hong Liu, Weiwei Wan, and Ying Shi, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.2985-2992, 2009.
• Predictive Model for Path Planning using K-near Dynamic Bridge Builder and Inner Parzen Window, Hong Liu, Ding Ding, and Weiwei Wan, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.2133-2138, 2008.