73 citations · 808 across the 84 of their papers we have counts for
82 papers · 1 filter
Flexible Morphing Aerial Robot with Inflatable Structure for Perching-based Human-Robot Interaction
Ayano Miyamichi, Moju Zhao, Kazuki Sugihara +5
Birds in nature perform perching not only for rest but also for interaction with human such as the relationship with falconers. Recently, researchers achieve perching-capable aeria…
DIJE: Dense Image Jacobian Estimation for Robust Robotic Self-Recognition and Visual Servoing
Yasunori Toshimitsu, Kento Kawaharazuka, Akihiro Miki +2
For robots to move in the real world, they must first correctly understand the state of its own body and the tools that it holds. In this research, we propose DIJE, an algorithm to…
Optimization-based Posture Generation for Whole-body Contact Motion by Contact Point Search on the Body Surface
Masaki Murooka, Kei Okada, Masayuki Inaba
Whole-body contact is an effective strategy for improving the stability and efficiency of the motion of robots. For robots to automatically perform such motions, we propose a postu…
Development of a Five-Fingerd Biomimetic Soft Robotic Hand by 3D Printing the Skin and Skeleton as One Unit
Kazuhiro Miyama, Kento Kawaharazuka, Kei Okada +1
Robot hands that imitate the shape of the human body have been actively studied, and various materials and mechanisms have been proposed to imitate the human body. Although the use…
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…
Applications of Stretch Reflex for the Upper Limb of Musculoskeletal Humanoids: Protective Behavior, Postural Stability, and Active Induction
Kento Kawaharazuka, Yuya Koga, Kei Tsuzuki +5
The musculoskeletal humanoid has various biomimetic benefits, and it is important that we can embed and evaluate human reflexes in the actual robot. Although stretch reflex has bee…
Exceeding the Maximum Speed Limit of the Joint Angle for the Redundant Tendon-driven Structures of Musculoskeletal Humanoids
Kento Kawaharazuka, Yuya Koga, Kei Tsuzuki +5
The musculoskeletal humanoid has various biomimetic benefits, and the redundant muscle arrangement is one of its most important characteristics. This redundancy can achieve fail-sa…
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…
Environmentally Adaptive Control Including Variance Minimization Using Stochastic Predictive Network with Parametric Bias: Application to Mobile Robots
Kento Kawaharazuka, Koki Shinjo, Yoichiro Kawamura +2
In this study, we propose a predictive model composed of a recurrent neural network including parametric bias and stochastic elements, and an environmentally adaptive robot control…
Task-specific Self-body Controller Acquisition by Musculoskeletal Humanoids: Application to Pedal Control in Autonomous Driving
Kento Kawaharazuka, Kei Tsuzuki, Shogo Makino +6
The musculoskeletal humanoid has many benefits that human beings have, but the modeling of its complex flexible body is difficult. Although we have developed an online acquisition…
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…
Design of a Five-Fingered Hand with Full-Fingered Tactile Sensors Using Conductive Filaments and Its Application to Bending after Insertion Motion
Kazuhiro Miyama, Shun Hasegawa, Kento Kawaharazuka +3
The purpose of this study is to construct a contact point estimation system for the both side of a finger, and to realize a motion of bending the finger after inserting the finger…
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…
Adaptive Body Schema Learning System Considering Additional Muscles for Musculoskeletal Humanoids
Kento Kawaharazuka, Akihiro Miki, Yasunori Toshimitsu +2
One of the important advantages of musculoskeletal humanoids is that the muscle arrangement can be easily changed and the number of muscles can be increased according to the situat…
Self-Body Image Acquisition and Posture Generation with Redundancy using Musculoskeletal Humanoid Shoulder Complex for Object Manipulation
Yuya Koga, Kento Kawaharazuka, Yasunori Toshimitsu +6
We proposed a method for learning the actual body image of a musculoskeletal humanoid for posture generation and object manipulation using inverse kinematics with redundancy in the…
Component Modularized Design of Musculoskeletal Humanoid Platform Musashi to Investigate Learning Control Systems
Kento Kawaharazuka, Shogo Makino, Kei Tsuzuki +8
To develop Musashi as a musculoskeletal humanoid platform to investigate learning control systems, we aimed for a body with flexible musculoskeletal structure, redundant sensors, a…
A Robot Kinematics Model Estimation Using Inertial Sensors for On-Site Building Robotics
Hiroya Sato, Tasuku Makabe, Iori Yanokura +3
In order to make robots more useful in a variety of environments, they need to be highly portable so that they can be transported to wherever they are needed, and highly storable s…
Design Method of a Kangaroo Robot with High Power Legs and an Articulated Soft Tail
Shunnosuke Yoshimura, Temma Suzuki, Masahiro Bando +4
In this paper, we focus on the kangaroo, which has powerful legs capable of jumping and a soft and strong tail. To incorporate these unique structure into a robot for utilization,…
Dynamic Cloth Manipulation Considering Variable Stiffness and Material Change Using Deep Predictive Model with Parametric Bias
Kento Kawaharazuka, Akihiro Miki, Masahiro Bando +2
Dynamic manipulation of flexible objects such as fabric, which is difficult to modelize, is one of the major challenges in robotics. With the development of deep learning, we are b…
Robust Continuous Motion Strategy Against Muscle Rupture using Online Learning of Redundant Intersensory Networks for Musculoskeletal Humanoids
Kento Kawaharazuka, Manabu Nishiura, Yasunori Toshimitsu +5
Musculoskeletal humanoids have various biomimetic advantages, of which redundant muscle arrangement is one of the most important features. This feature enables variable stiffness c…
Human-mimetic binaural ear design and sound source direction estimation for task realization of musculoskeletal humanoids
Yusuke Omura, Kento Kawaharazuka, Yuya Nagamatsu +7
Human-like environment recognition by musculoskeletal humanoids is important for task realization in real complex environments and for use as dummies for test subjects. Humans inte…
Antagonist Inhibition Control in Redundant Tendon-driven Structures Based on Human Reciprocal Innervation for Wide Range Limb Motion of Musculoskeletal Humanoids
Kento Kawaharazuka, Masaya Kawamura, Shogo Makino +3
The body structure of an anatomically correct tendon-driven musculoskeletal humanoid is complex, and the difference between its geometric model and the actual robot is very large b…