14 citations · 57 across the 45 of their papers we have counts for
48 papers
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…
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…
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…
Self-assembling Modular Aerial Robot for Versatile Aerial Tasks
Junichiro Sugihara, Masaki Kitagawa, Jinjie Li +4
Multirotor aerial robots excel at maneuvering in three-dimensional space, and recent advances enable nimble navigation in cluttered and confined environments, especially for small…
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.…
Toward Formalizing LLM-Based Agent Designs through Structural Context Modeling and Semantic Dynamics Analysis
Haoyu Jia, Kento Kawaharazuka, Kei Okada
Current research on large language model (LLM) agents is fragmented: discussions of conceptual frameworks and methodological principles are frequently intertwined with low-level im…
Efficient Robot Design with Multi-Objective Black-Box Optimization and Large Language Models
Kento Kawaharazuka, Yoshiki Obinata, Naoaki Kanazawa +2
Various methods for robot design optimization have been developed so far. These methods are diverse, ranging from numerical optimization to black-box optimization. While numerical…
M3D-skin: Multi-material 3D-printed Tactile Sensor with Hierarchical Infill Structures for Pressure Sensing
Shunnosuke Yoshimura, Kento Kawaharazuka, Kei Okada
Tactile sensors have a wide range of applications, from utilization in robotic grippers to human motion measurement. If tactile sensors could be fabricated and integrated more easi…
Design and Development of a Remotely Wire-Driven Walking Robot
Takahiro Hattori, Kento Kawaharazuka, Kei Okada
Operating in environments too harsh or inaccessible for humans is one of the critical roles expected of robots. However, such environments often pose risks to electronic components…
A Universal Wire Testing Machine for Enhancing the Performance of Wire-Driven Robots
Temma Suzuki, Kento Kawaharazuka, Kei Okada
Compared with gears and linkages, wires constitute a lightweight, low-friction transmission mechanism. However, because wires are flexible materials, they tend to introduce large m…
MEVITA: Open-Source Bipedal Robot Assembled from E-Commerce Components via Sheet Metal Welding
Kento Kawaharazuka, Shogo Sawaguchi, Ayumu Iwata +3
Various bipedal robots have been developed to date, and in recent years, there has been a growing trend toward releasing these robots as open-source platforms. This shift is foster…