66 citations · 213 across the 10 of their papers we have counts for
10 papers
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…
Musculoskeletal AutoEncoder: A Unified Online Acquisition Method of Intersensory Networks for State Estimation, Control, and Simulation of Musculoskeletal Humanoids
Kento Kawaharazuka, Kei Tsuzuki, Moritaka Onitsuka +4
While the musculoskeletal humanoid has various biomimetic benefits, the modeling of its complex structure is difficult, and many learning-based systems have been developed so far.…
Toward Autonomous Driving by Musculoskeletal Humanoids: A Study of Developed Hardware and Learning-Based Software
Kento Kawaharazuka, Kei Tsuzuki, Yuya Koga +9
This paper summarizes an autonomous driving project by musculoskeletal humanoids. The musculoskeletal humanoid, which mimics the human body in detail, has redundant sensors and a f…