66 citations · 259 across the 11 of their papers we have counts for
11 papers
Task-specific Self-body Controller Acquisition by Musculoskeletal Humanoids: Application to Pedal Control in Autonomous Driving
Kento Kawaharazuka, Kei Tsuzuki, Shogo Makino +6
The musculoskeletal humanoid has many benefits that human beings have, but the modeling of its complex flexible body is difficult. Although we have developed an online acquisition…
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…
Antagonist Inhibition Control in Redundant Tendon-driven Structures Based on Human Reciprocal Innervation for Wide Range Limb Motion of Musculoskeletal Humanoids
Kento Kawaharazuka, Masaya Kawamura, Shogo Makino +3
The body structure of an anatomically correct tendon-driven musculoskeletal humanoid is complex, and the difference between its geometric model and the actual robot is very large b…
Human Mimetic Forearm Design with Radioulnar Joint using Miniature Bone-Muscle Modules and Its Applications
Kento Kawaharazuka, Shogo Makino, Masaya Kawamura +4
The human forearm is composed of two long, thin bones called the radius and the ulna, and rotates using two axle joints. We aimed to develop a forearm based on the body proportion,…
A Method of Joint Angle Estimation Using Only Relative Changes in Muscle Lengths for Tendon-driven Humanoids with Complex Musculoskeletal Structures
Kento Kawaharazuka, Shogo Makino, Masaya Kawamura +3
Tendon-driven musculoskeletal humanoids typically have complex structures similar to those of human beings, such as ball joints and the scapula, in which encoders cannot be install…
TWIMP: Two-Wheel Inverted Musculoskeletal Pendulum as a Learning Control Platform in the Real World with Environmental Physical Contact
Kento Kawaharazuka, Tasuku Makabe, Shogo Makino +8
By the recent spread of machine learning in the robotics field, a humanoid that can act, perceive, and learn in the real world through contact with the environment needs to be deve…
Online Learning of Joint-Muscle Mapping Using Vision in Tendon-driven Musculoskeletal Humanoids
Kento Kawaharazuka, Shogo Makino, Masaya Kawamura +3
The body structures of tendon-driven musculoskeletal humanoids are complex, and accurate modeling is difficult, because they are made by imitating the body structures of human bein…
Long-time Self-body Image Acquisition and its Application to the Control of Musculoskeletal Structures
Kento Kawaharazuka, Kei Tsuzuki, Shogo Makino +5
The tendon-driven musculoskeletal humanoid has many benefits that human beings have, but the modeling of its complex muscle and bone structures is difficult and conventional model-…
Online Self-body Image Acquisition Considering Changes in Muscle Routes Caused by Softness of Body Tissue for Tendon-driven Musculoskeletal Humanoids
Kento Kawaharazuka, Shogo Makino, Masaya Kawamura +4
Tendon-driven musculoskeletal humanoids have many benefits in terms of the flexible spine, multiple degrees of freedom, and variable stiffness. At the same time, because of its bod…
High-Power, Flexible, Robust Hand: Development of Musculoskeletal Hand Using Machined Springs and Realization of Self-Weight Supporting Motion with Humanoid
Shogo Makino, Kento Kawaharazuka, Masaya Kawamura +3
Human can not only support their body during standing or walking, but also support them by hand, so that they can dangle a bar and others. But most humanoid robots support their bo…
Five-fingered Hand with Wide Range of Thumb Using Combination of Machined Springs and Variable Stiffness Joints
Shogo Makino, Kento Kawaharazuka, Ayaka Fujii +7
Human hands can not only grasp objects of various shape and size and manipulate them in hands but also exert such a large gripping force that they can support the body in the situa…