66 citations · 233 across the 14 of their papers we have counts for
14 papers
Reflex-based Motion Strategy of Musculoskeletal Humanoids under Environmental Contact Using Muscle Relaxation Control
Kento Kawaharazuka, Kei Tsuzuki, Moritaka Onitsuka +6
The musculoskeletal humanoid can move well under environmental contact thanks to its body softness. However, there are few studies that actively make use of the environment to rest…
Applications of Stretch Reflex for the Upper Limb of Musculoskeletal Humanoids: Protective Behavior, Postural Stability, and Active Induction
Kento Kawaharazuka, Yuya Koga, Kei Tsuzuki +5
The musculoskeletal humanoid has various biomimetic benefits, and it is important that we can embed and evaluate human reflexes in the actual robot. Although stretch reflex has bee…
Exceeding the Maximum Speed Limit of the Joint Angle for the Redundant Tendon-driven Structures of Musculoskeletal Humanoids
Kento Kawaharazuka, Yuya Koga, Kei Tsuzuki +5
The musculoskeletal humanoid has various biomimetic benefits, and the redundant muscle arrangement is one of its most important characteristics. This redundancy can achieve fail-sa…
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…
Modification of muscle antagonistic relations and hand trajectory on the dynamic motion of Musculoskeletal Humanoid
Yuya Koga, Kento Kawaharazuka, Moritaka Onitsuka +6
In recent years, some research on musculoskeletal humanoids is in progress. However, there are some challenges such as unmeasurable transformation of body structure and muscle path…
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…
Estimation and Control of Motor Core Temperature with Online Learning of Thermal Model Parameters: Application to Musculoskeletal Humanoids
Kento Kawaharazuka, Naoki Hiraoka, Kei Tsuzuki +5
The estimation and management of motor temperature are important for the continuous movements of robots. In this study, we propose an online learning method of thermal model parame…
Object Recognition, Dynamic Contact Simulation, Detection, and Control of the Flexible Musculoskeletal Hand Using a Recurrent Neural Network with Parametric Bias
Kento Kawaharazuka, Kei Tsuzuki, Moritaka Onitsuka +4
The flexible musculoskeletal hand is difficult to modelize, and its model can change constantly due to deterioration over time, irreproducibility of initialization, etc. Also, for…
Stable Tool-Use with Flexible Musculoskeletal Hands by Learning the Predictive Model of Sensor State Transition
Kento Kawaharazuka, Kei Tsuzuki, Moritaka Onitsuka +4
The flexible under-actuated musculoskeletal hand is superior in its adaptability and impact resistance. On the other hand, since the relationship between sensors and actuators cann…
Musculoskeletal AutoEncoder: A Unified Online Acquisition Method of Intersensory Networks for State Estimation, Control, and Simulation of Musculoskeletal Humanoids
Kento Kawaharazuka, Kei Tsuzuki, Moritaka Onitsuka +4
While the musculoskeletal humanoid has various biomimetic benefits, the modeling of its complex structure is difficult, and many learning-based systems have been developed so far.…
Toward Autonomous Driving by Musculoskeletal Humanoids: A Study of Developed Hardware and Learning-Based Software
Kento Kawaharazuka, Kei Tsuzuki, Yuya Koga +9
This paper summarizes an autonomous driving project by musculoskeletal humanoids. The musculoskeletal humanoid, which mimics the human body in detail, has redundant sensors and a f…
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-…
Development of Musculoskeletal Legs with Planar Interskeletal Structures to Realize Human Comparable Moving Function
Moritaka Onitsuka, Manabu Nishiura, Kento Kawaharazuka +7
Musculoskeletal humanoids have been developed by imitating humans and expected to perform natural and dynamic motions as well as humans. To achieve desired motions stably in curren…
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…