1 citations · 2 across the 12 of their papers we have counts for
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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…
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…
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…
EFGCL: Learning Dynamic Motion through Spotting-Inspired External Force Guided Curriculum Learning
Keita Yoneda, Kento Kawaharazuka, Kei Okada
Learning dynamic whole-body motions for legged robots through reinforcement learning (RL) remains challenging due to the high risk of failure, which makes efficient exploration dif…
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…
Analysis of Various Manipulator Configurations Based on Multi-Objective Black-Box Optimization
Kento Kawaharazuka, Keita Yoneda, Takahiro Hattori +2
Various 6-degree-of-freedom (DOF) and 7-DOF manipulators have been developed to date. Over a long history, their joint configurations and link length ratios have been determined em…
REWW-ARM -- Remote Wire-Driven Mobile Robot: Design, Control, and Experimental Validation
Takahiro Hattori, Kento Kawaharazuka, Temma Suzuki +2
Electronic devices are essential for robots but limit their usable environments. To overcome this, methods excluding electronics from the operating environment while retaining adva…
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…
An RGB-D Camera-Based Multi-Small Flying Anchors Control for Wire-Driven Robots Connecting to the Environment
Shintaro Inoue, Kento Kawaharazuka, Keita Yoneda +4
In order to expand the operational range and payload capacity of robots, wire-driven robots that leverage the external environment have been proposed. It can exert forces and opera…
KLEIYN : A Quadruped Robot with an Active Waist for Both Locomotion and Wall Climbing
Keita Yoneda, Kento Kawaharazuka, Temma Suzuki +2
In recent years, advancements in hardware have enabled quadruped robots to operate with high power and speed, while robust locomotion control using reinforcement learning (RL) has…
Design Optimization of Three-Dimensional Wire Arrangement Considering Wire Crossings for Tendon-driven Robots
Kento Kawaharazuka, Shintaro Inoue, Yuta Sahara +3
Tendon-driven mechanisms are useful from the perspectives of variable stiffness, redundant actuation, and lightweight design, and they are widely used, particularly in hands, wrist…
PIMBS: Efficient Body Schema Learning for Musculoskeletal Humanoids with Physics-Informed Neural Networks
Kento Kawaharazuka, Takahiro Hattori, Keita Yoneda +1
Musculoskeletal humanoids are robots that closely mimic the human musculoskeletal system, offering various advantages such as variable stiffness control, redundancy, and flexibilit…