103 citations · 959 across the 122 of their papers we have counts for
125 papers · 1 filter
Robotic Physical Comparison of Biologically Motivated and Counterfactual Sensory Arrangements using Biomimetic Skin
Akihiro Miki, Shun Hasegawa, Yoshimoto Ribayashi +3
Human skin contains diverse mechanoreceptors, including Merkel cells and Pacinian corpuscles, each localized in specific regions. Although their spatial organization is known to be…
SHOES: Sim-to-real Hardware-adaptation via On-policy Expansion of Skills for Legged Robots
Kota Tsuruhara, Tsung-Yuan Chen, Kento Kawaharazuka
Humans expand their locomotion capability by wearing appropriate footwear, such as hiking boots for mountains or skates for ice. Footwear changes the ground-contact interface and e…
Extending Wire-Driven Parallel Robots to Multi-Floating-Link Systems with an Inter-Body Wire
Shintaro Inoue, Kento Kawaharazuka, Temma Suzuki +3
Parallel wire-driven systems are a framework in which multiple wires are connected to an end effector, and the end effector is driven by the tensions of those wires. Because they c…
Design optimization of tendon-driven robots considering tendon wrapping and shortcut
Yuta Sahara, Kento Kawaharazuka, Kei Okada
This study proposes a multi-objective optimization method for tendon-driven arm design, addressing the inherent trade-off between joint torque and arm thickness through tendon wrap…
LunaDrive: A Delay-Compensated High-Voltage GaN FET-Based Motor Driver for Dynamic Robots with Flat BLDC Motors
Sota Yuzaki, Temma Suzuki, Hiromi Tada +3
The performance improvement of high-power flat BLDC motors has accelerated the development of dynamic robots. However, many commercially available servo motors assume operating vol…
Continuous Manifold-Decomposed Impedance Retargeting for Contact-Rich Imitation Learning
Jiahao Liu, Kento Kawaharazuka, Tasuku Makabe +1
CMDIR extends Manifold-Decomposed Impedance Retargeting (MDIR) to transform fixed-impedance demonstrations into continuous variable-impedance controllers, which can also serve as s…
Design of a Biomimetic Joint-Covering Skin with Tissue-Like Structure to Enhance Proprioception in a Musculoskeletal Humanoid
Akihiro Miki, Shun Hasegawa, Yoshimoto Ribayashi +2
Proprioception in musculoskeletal humanoids is typically estimated primarily from muscle sensing, while the role of cutaneous deformation around joints remains insufficiently explo…
Robust Brachiation on a Life-Sized Dual-Arm Robot Using Waypoint-Guided Reinforcement Learning
Ayumu Iwata, Kento Kawaharazuka, Keita Yoneda +2
Brachiation is a form of locomotion in which primates move primarily using their arms, enabling traversal in environments without footholds. However, this motion requires highly co…
Detachable Wire Drive : Reconfigurable Robot Architecture with Shared Actuators
Takahiro Hattori, Kento Kawaharazuka, Kei Okada
Reconfigurable robots offer significant potential for adapting to diverse tasks; however, conventional centralized architectures often require dedicated actuators for each module,…
Neural Introspection Gating for Adaptive KV-Cache Reuse in Vision-Language-Action Models
Zhijie Wu, Kento Kawaharazuka, Kei Okada
Vision-Language-Action(VLA) models map camera images and language instructions directly to motor commands through a single autoregressive transformer. In real-time control, they st…
TRACT: Temporally Routed Action Chunks with Chronological Phase Authority for Contact-Rich Manipulation
Jiahao Liu, Kento Kawaharazuka, Tasuku Makabe +1
Action chunking shortens the effective decision horizon of robot imitation learning by predicting multiple future actions, while conventional phase conditioning describes the curre…
MDIR: A Task-Manifold Impedance Retargeting Method for Contact-Rich Teleoperation
Liu Jiahao, Kento Kawaharazuka, Tasuku Makabe +1
Fixed Cartesian impedance makes contact-rich teleoperation demonstrations practical, but gains that secure progress and contact support also determine impact and force variability.…
VLAff: Vision-Language-Affordance Model for Unified Actionable Affordances
Jihoon Oh, Kento Kawaharazuka, Kei Okada
Learning manipulation skills from human videos is promising for scalable robot learning. However, the embodiment mismatch between humans and robots makes this challenging. One prom…
Diffusion-Based Body Schema Learning Enabling Abnormal-State Adaptation in Musculoskeletal Robots
Kento Kawaharazuka, Shuhei Ikemoto
Musculoskeletal robots require an internal body schema that remains consistent under a wide range of physical state changes, including abnormalities such as muscle rupture and actu…
WARL: Wrench-Augmented Reinforcement Learning for Task-Agnostic Learning in Legged Robots
Keita Yoneda, Kento Kawaharazuka, Kei Okada
While reinforcement learning for legged robots has achieved high motor performance, it has been constrained by the limited exploration capability of actions confined to the joint s…
MEVION: Low-Cost Open-Source Data Collection System for Powerful and High-Speed Dual-Arm Manipulation
Kento Kawaharazuka, Yoshiki Obinata, Hirokazu Ishida +6
The global competition for developing robotic foundation models is intensifying. Among the data collection systems used for dual-arm robots, ALOHA is representative of being low-co…
WiXus: A Wheeled-Legged Robot with Wire-Driven Environmental Utilizing to Integrate Mobility and Manipulation
Shintaro Inoue, Kento Kawaharazuka, Temma Suzuki +2
Wheeled-legged robots, which have wheels at their feet and achieve high mobility by coordinating wheel drive and leg drive, have been developed. These robots have been developed pu…
EFGCL: Learning Dynamic Motion through Spotting-Inspired External Force Guided Curriculum Learning
Keita Yoneda, Kento Kawaharazuka, Kei Okada
Learning dynamic whole-body motions for legged robots through reinforcement learning (RL) remains challenging due to the high risk of failure, which makes efficient exploration dif…
Exploring the proprioceptive potential of joint receptors using a biomimetic robotic joint
Akihiro Miki, Shun Hasegawa, Sota Yuzaki +4
In neuroscience, joint receptors have traditionally been viewed as limit detectors, providing positional information only at extreme joint angles, while muscle spindles are conside…
MEVIUS2: Practical Open-Source Quadruped Robot with Sheet Metal Welding and Multimodal Perception
Kento Kawaharazuka, Keita Yoneda, Shintaro Inoue +3
Various quadruped robots have been developed to date, and thanks to reinforcement learning, they are now capable of traversing diverse types of rough terrain. In parallel, there is…
Dexterous grasp data augmentation based on grasp synthesis with fingertip workspace cloud and contact-aware sampling
Liqi Wu, Haoyu Jia, Kento Kawaharazuka +2
Robotic grasping is a fundamental yet crucial component of robotic applications, as effective grasping often serves as the starting point for various tasks. With the rapid advancem…
Characteristics, Management, and Utilization of Muscles in Musculoskeletal Humanoids: Empirical Study on Kengoro and Musashi
Kento Kawaharazuka, Kei Okada, Masayuki Inaba
Various musculoskeletal humanoids have been developed so far, and numerous studies on control mechanisms have been conducted to leverage the advantages of their biomimetic bodies.…
Analysis of Various Manipulator Configurations Based on Multi-Objective Black-Box Optimization
Kento Kawaharazuka, Keita Yoneda, Takahiro Hattori +2
Various 6-degree-of-freedom (DOF) and 7-DOF manipulators have been developed to date. Over a long history, their joint configurations and link length ratios have been determined em…
REWW-ARM -- Remote Wire-Driven Mobile Robot: Design, Control, and Experimental Validation
Takahiro Hattori, Kento Kawaharazuka, Temma Suzuki +2
Electronic devices are essential for robots but limit their usable environments. To overcome this, methods excluding electronics from the operating environment while retaining adva…