11 papers
Stability Recognition with Active Vibration for Bracing Behaviors and Motion Extensions Using Environment in Musculoskeletal Humanoids
Kento Kawaharazuka, Manabu Nishiura, Shinsuke Nakashima +7
Although robots with flexible bodies are superior in terms of the contact and adaptability, it is difficult to control them precisely. On the other hand, human beings make use of t…
Reflex-based Motion Strategy of Musculoskeletal Humanoids under Environmental Contact Using Muscle Relaxation Control
Kento Kawaharazuka, Kei Tsuzuki, Moritaka Onitsuka +6
The musculoskeletal humanoid can move well under environmental contact thanks to its body softness. However, there are few studies that actively make use of the environment to rest…
Online Learning of Danger Avoidance for Complex Structures of Musculoskeletal Humanoids and Its Applications
Kento Kawaharazuka, Naoki Hiraoka, Yuya Koga +6
The complex structure of musculoskeletal humanoids makes it difficult to model them, and the inter-body interference and high internal muscle force are unavoidable. Although variou…
Design Optimization of Musculoskeletal Humanoids with Maximization of Redundancy to Compensate for Muscle Rupture
Kento Kawaharazuka, Yasunori Toshimitsu, Manabu Nishiura +6
Musculoskeletal humanoids have various biomimetic advantages, and the redundant muscle arrangement allowing for variable stiffness control is one of the most important. In this stu…
Modification of muscle antagonistic relations and hand trajectory on the dynamic motion of Musculoskeletal Humanoid
Yuya Koga, Kento Kawaharazuka, Moritaka Onitsuka +6
In recent years, some research on musculoskeletal humanoids is in progress. However, there are some challenges such as unmeasurable transformation of body structure and muscle path…
Motion Modification Method of Musculoskeletal Humanoids by Human Teaching Using Muscle-Based Compensation Control
Kento Kawaharazuka, Yuya Koga, Manabu Nishiura +5
While musculoskeletal humanoids have the advantages of various biomimetic structures, it is difficult to accurately control the body, which is challenging to model. Although variou…