3 papers
cs.RO2026
Robotic Physical Comparison of Biologically Motivated and Counterfactual Sensory Arrangements using Biomimetic Skin
Akihiro Miki, Shun Hasegawa, Yoshimoto Ribayashi +3
Human skin contains diverse mechanoreceptors, including Merkel cells and Pacinian corpuscles, each localized in specific regions. Although their spatial organization is known to be…
cs.RO2026
Design optimization of tendon-driven robots considering tendon wrapping and shortcut
Yuta Sahara, Kento Kawaharazuka, Kei Okada
This study proposes a multi-objective optimization method for tendon-driven arm design, addressing the inherent trade-off between joint torque and arm thickness through tendon wrap…
cs.RO2026
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…