66 citations · 205 across the 11 of their papers we have counts for
11 papers
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…
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…
Estimation and Control of Motor Core Temperature with Online Learning of Thermal Model Parameters: Application to Musculoskeletal Humanoids
Kento Kawaharazuka, Naoki Hiraoka, Kei Tsuzuki +5
The estimation and management of motor temperature are important for the continuous movements of robots. In this study, we propose an online learning method of thermal model parame…
Object Recognition, Dynamic Contact Simulation, Detection, and Control of the Flexible Musculoskeletal Hand Using a Recurrent Neural Network with Parametric Bias
Kento Kawaharazuka, Kei Tsuzuki, Moritaka Onitsuka +4
The flexible musculoskeletal hand is difficult to modelize, and its model can change constantly due to deterioration over time, irreproducibility of initialization, etc. Also, for…
Stable Tool-Use with Flexible Musculoskeletal Hands by Learning the Predictive Model of Sensor State Transition
Kento Kawaharazuka, Kei Tsuzuki, Moritaka Onitsuka +4
The flexible under-actuated musculoskeletal hand is superior in its adaptability and impact resistance. On the other hand, since the relationship between sensors and actuators cann…