66 citations · 699 across the 79 of their papers we have counts for
47 papers · 2 filters
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…