14 citations · 84 across the 30 of their papers we have counts for
30 papers
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.…
Flexible Morphing Aerial Robot with Inflatable Structure for Perching-based Human-Robot Interaction
Ayano Miyamichi, Moju Zhao, Kazuki Sugihara +5
Birds in nature perform perching not only for rest but also for interaction with human such as the relationship with falconers. Recently, researchers achieve perching-capable aeria…
Development of a Five-Fingerd Biomimetic Soft Robotic Hand by 3D Printing the Skin and Skeleton as One Unit
Kazuhiro Miyama, Kento Kawaharazuka, Kei Okada +1
Robot hands that imitate the shape of the human body have been actively studied, and various materials and mechanisms have been proposed to imitate the human body. Although the use…
Vlimb: A Wire-Driven Wearable Robot for Bodily Extension, Balancing Powerfulness and Reachability
Shogo Sawaguchi, Temma Suzuki, Akihiro Miki +6
Numerous wearable robots have been developed to meet the demands of physical assistance and entertainment. These wearable robots range from body-enhancing types that assist human a…
Integrative Wrapping System for a Dual-Arm Humanoid Robot
Yukina Iwata, Shun Hasegawa, Kento Kawaharazuka +2
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific acti…
Fundamental Three-Dimensional Configuration of Wire-Wound Muscle-Tendon Complex Drive
Yoshimoto Ribayashi, Yuta Sahara, Shogo Sawaguchi +5
For robots to become more versatile and expand their areas of application, their bodies need to be suitable for contact with the environment. When the human body comes into contact…
Robotic State Recognition with Image-to-Text Retrieval Task of Pre-Trained Vision-Language Model and Black-Box Optimization
Kento Kawaharazuka, Yoshiki Obinata, Naoaki Kanazawa +2
State recognition of the environment and objects, such as the open/closed state of doors and the on/off of lights, is indispensable for robots that perform daily life support and s…
A Robot Kinematics Model Estimation Using Inertial Sensors for On-Site Building Robotics
Hiroya Sato, Tasuku Makabe, Iori Yanokura +3
In order to make robots more useful in a variety of environments, they need to be highly portable so that they can be transported to wherever they are needed, and highly storable s…
Design Method of a Kangaroo Robot with High Power Legs and an Articulated Soft Tail
Shunnosuke Yoshimura, Temma Suzuki, Masahiro Bando +4
In this paper, we focus on the kangaroo, which has powerful legs capable of jumping and a soft and strong tail. To incorporate these unique structure into a robot for utilization,…
Patterned Structure Muscle : Arbitrary Shaped Wire-driven Artificial Muscle Utilizing Anisotropic Flexible Structure for Musculoskeletal Robots
Shunnosuke Yoshimura, Akihiro Miki, Kazuhiro Miyama +4
Muscles of the human body are composed of tiny actuators made up of myosin and actin filaments. They can exert force in various shapes such as curved or flat, under contact forces…
CubiX: Portable Wire-Driven Parallel Robot Connecting to and Utilizing the Environment
Shintaro Inoue, Kento Kawaharazuka, Temma Suzuki +3
A wire-driven parallel robot is a type of robotic system where multiple wires are used to control the movement of a end-effector. The wires are attached to the end-effector and anc…
Construction of Musculoskeletal Simulation for Shoulder Complex with Ligaments and Its Validation via Model Predictive Control
Yuta Sahara, Akihiro Miki, Yoshimoto Ribayashi +4
The complex ways in which humans utilize their bodies in sports and martial arts are remarkable, and human motion analysis is one of the most effective tools for robot body design…
Real-World Cooking Robot System from Recipes Based on Food State Recognition Using Foundation Models and PDDL
Naoaki Kanazawa, Kento Kawaharazuka, Yoshiki Obinata +2
Although there is a growing demand for cooking behaviours as one of the expected tasks for robots, a series of cooking behaviours based on new recipe descriptions by robots in the…
Robot Design Optimization with Rotational and Prismatic Joints using Black-Box Multi-Objective Optimization
Kento Kawaharazuka, Kei Okada, Masayuki Inaba
Robots generally have a structure that combines rotational joints and links in a serial fashion. On the other hand, various joint mechanisms are being utilized in practice, such as…
Robotic Environmental State Recognition with Pre-Trained Vision-Language Models and Black-Box Optimization
Kento Kawaharazuka, Yoshiki Obinata, Naoaki Kanazawa +2
In order for robots to autonomously navigate and operate in diverse environments, it is essential for them to recognize the state of their environment. On the other hand, the envir…
MEVIUS: A Quadruped Robot Easily Constructed through E-Commerce with Sheet Metal Welding and Machining
Kento Kawaharazuka, Shintaro Inoue, Temma Suzuki +4
Quadruped robots that individual researchers can build by themselves are crucial for expanding the scope of research due to their high scalability and customizability. These robots…
GeMuCo: Generalized Multisensory Correlational Model for Body Schema Learning
Kento Kawaharazuka, Kei Okada, Masayuki Inaba
Humans can autonomously learn the relationship between sensation and motion in their own bodies, estimate and control their own body states, and move while continuously adapting to…
Reflex-Based Open-Vocabulary Navigation without Prior Knowledge Using Omnidirectional Camera and Multiple Vision-Language Models
Kento Kawaharazuka, Yoshiki Obinata, Naoaki Kanazawa +3
Various robot navigation methods have been developed, but they are mainly based on Simultaneous Localization and Mapping (SLAM), reinforcement learning, etc., which require prior m…
Behavioral Learning of Dish Rinsing and Scrubbing based on Interruptive Direct Teaching Considering Assistance Rate
Shumpei Wakabayashi, Kento Kawaharazuka, Kei Okada +1
Robots are expected to manipulate objects in a safe and dexterous way. For example, washing dishes is a dexterous operation that involves scrubbing the dishes with a sponge and rin…
Adaptive Whole-body Robotic Tool-use Learning on Low-rigidity Plastic-made Humanoids Using Vision and Tactile Sensors
Kento Kawaharazuka, Kei Okada, Masayuki Inaba
Various robots have been developed so far; however, we face challenges in modeling the low-rigidity bodies of some robots. In particular, the deflection of the body changes during…
Robotic Constrained Imitation Learning for the Peg Transfer Task in Fundamentals of Laparoscopic Surgery
Kento Kawaharazuka, Kei Okada, Masayuki Inaba
In this study, we present an implementation strategy for a robot that performs peg transfer tasks in Fundamentals of Laparoscopic Surgery (FLS) via imitation learning, aimed at the…
CoverLib: Classifiers-equipped Experience Library by Iterative Problem Distribution Coverage Maximization for Domain-tuned Motion Planning
Hirokazu Ishida, Naoki Hiraoka, Kei Okada +1
Library-based methods are known to be very effective for fast motion planning by adapting an experience retrieved from a precomputed library. This article presents CoverLib, a prin…
Designing Fluid-Exuding Cartilage for Biomimetic Robots Mimicking Human Joint Lubrication Function
Akihiro Miki, Yuta Sahara, Kazuhiro Miyama +6
The human joint is an open-type joint composed of bones, cartilage, ligaments, synovial fluid, and joint capsule, having advantages of flexibility and impact resistance. However, r…
Body Design and Gait Generation of Chair-Type Asymmetrical Tripedal Low-rigidity Robot
Shintaro Inoue, Kento Kawaharazuka, Kei Okada +1
In this study, a chair-type asymmetric tripedal low-rigidity robot was designed based on the three-legged chair character in the movie "Suzume" and its gait was generated. Its body…