14 citations · 39 across the 36 of their papers we have counts for
40 papers · 1 filter
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.…