73 citations · 778 across the 70 of their papers we have counts for
15 papers · 1 filter
RAMIEL: A Parallel-Wire Driven Monopedal Robot for High and Continuous Jumping
Temma Suzuki, Yasunori Toshimitsu, Yuya Nagamatsu +8
Legged robots with high locomotive performance have been extensively studied, and various leg structures have been proposed. Especially, a leg structure that can achieve both conti…
Binary State Recognition by Robots using Visual Question Answering of Pre-Trained Vision-Language Model
Kento Kawaharazuka, Yoshiki Obinata, Naoaki Kanazawa +2
Recognition of the current state is indispensable for the operation of a robot. There are various states to be recognized, such as whether an elevator door is open or closed, wheth…
Semantic Scene Difference Detection in Daily Life Patroling by Mobile Robots using Pre-Trained Large-Scale Vision-Language Model
Yoshiki Obinata, Kento Kawaharazuka, Naoaki Kanazawa +7
It is important for daily life support robots to detect changes in their environment and perform tasks. In the field of anomaly detection in computer vision, probabilistic and deep…
Development of a Whole-body Work Imitation Learning System by a Biped and Bi-armed Humanoid
Yutaro Matsuura, Kento Kawaharazuka, Naoki Hiraoka +3
Imitation learning has been actively studied in recent years. In particular, skill acquisition by a robot with a fixed body, whose root link position and posture and camera angle o…
Daily Assistive Modular Robot Design Based on Multi-Objective Black-Box Optimization
Kento Kawaharazuka, Tasuku Makabe, Kei Okada +1
The range of robot activities is expanding from industries with fixed environments to diverse and changing environments, such as nursing care support and daily life support. In par…
Recognition of Heat-Induced Food State Changes by Time-Series Use of Vision-Language Model for Cooking Robot
Naoaki Kanazawa, Kento Kawaharazuka, Yoshiki Obinata +2
Cooking tasks are characterized by large changes in the state of the food, which is one of the major challenges in robot execution of cooking tasks. In particular, cooking using a…
A method for Selecting Scenes and Emotion-based Descriptions for a Robot's Diary
Aiko Ichikura, Kento Kawaharazuka, Yoshiki Obinata +2
In this study, we examined scene selection methods and emotion-based descriptions for a robot's daily diary. We proposed a scene selection method and an emotion description method…
Automatic Diary Generation System including Information on Joint Experiences between Humans and Robots
Aiko Ichikura, Kento Kawaharazuka, Yoshiki Obinata +3
In this study, we propose an automatic diary generation system that uses information from past joint experiences with the aim of increasing the favorability for robots through shar…
HumanMimic: Learning Natural Locomotion and Transitions for Humanoid Robot via Wasserstein Adversarial Imitation
Annan Tang, Takuma Hiraoka, Naoki Hiraoka +5
Transferring human motion skills to humanoid robots remains a significant challenge. In this study, we introduce a Wasserstein adversarial imitation learning system, allowing human…
Foundation Model based Open Vocabulary Task Planning and Executive System for General Purpose Service Robots
Yoshiki Obinata, Naoaki Kanazawa, Kento Kawaharazuka +4
This paper describes a strategy for implementing a robotic system capable of performing General Purpose Service Robot (GPSR) tasks in robocup@home. The GPSR task is that a real rob…
Online Estimation of Self-Body Deflection With Various Sensor Data Based on Directional Statistics
Hiroya Sato, Kento Kawaharazuka, Tasuku Makabe +2
In this paper, we propose a method for online estimation of the robot's posture. Our method uses von Mises and Bingham distributions as probability distributions of joint angles an…
VQA-based Robotic State Recognition Optimized with Genetic Algorithm
Kento Kawaharazuka, Yoshiki Obinata, Naoaki Kanazawa +2
State recognition of objects and environment in robots has been conducted in various ways. In most cases, this is executed by processing point clouds, learning images with annotati…
Design and Control of a Small Humanoid Equipped with Flight Unit and Wheels for Multimodal Locomotion
Kazuki Sugihara, Moju Zhao, Takuzumi Nishio +3
Humanoids are versatile robotic platforms owing to their limbs with multiple degrees of freedom. Although humanoids can walk like humans, they are relatively slow, and cannot run o…
Robotic Applications of Pre-Trained Vision-Language Models to Various Recognition Behaviors
Kento Kawaharazuka, Yoshiki Obinata, Naoaki Kanazawa +2
In recent years, a number of models that learn the relations between vision and language from large datasets have been released. These models perform a variety of tasks, such as an…
Sensing and Navigation of Aerial Robot for Measuring Tree Location and Size in Forest Environment
Tomoki Anzai, Moju Zhao, Fan Shi +2
This paper shows the achievement of a sensing and navigation system of aerial robot for measuring location and size of trees in a forest environment autonomously. Although forestry…