14 citations · 65 across the 21 of their papers we have counts for
22 papers
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…
LunaDrive: A Delay-Compensated High-Voltage GaN FET-Based Motor Driver for Dynamic Robots with Flat BLDC Motors
Sota Yuzaki, Temma Suzuki, Hiromi Tada +3
The performance improvement of high-power flat BLDC motors has accelerated the development of dynamic robots. However, many commercially available servo motors assume operating vol…
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…
WiXus: A Wheeled-Legged Robot with Wire-Driven Environmental Utilizing to Integrate Mobility and Manipulation
Shintaro Inoue, Kento Kawaharazuka, Temma Suzuki +2
Wheeled-legged robots, which have wheels at their feet and achieve high mobility by coordinating wheel drive and leg drive, have been developed. These robots have been developed pu…
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…
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…
A Universal Wire Testing Machine for Enhancing the Performance of Wire-Driven Robots
Temma Suzuki, Kento Kawaharazuka, Kei Okada
Compared with gears and linkages, wires constitute a lightweight, low-friction transmission mechanism. However, because wires are flexible materials, they tend to introduce large m…
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…
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…
CubiXMusashi: Fusion of Wire-Driven CubiX and Musculoskeletal Humanoid Musashi toward Unlimited Performance
Shintaro Inoue, Kento Kawaharazuka, Temma Suzuki +4
Humanoids exhibit a wide variety in terms of joint configuration, actuators, and degrees of freedom, resulting in different achievable movements and tasks for each type. Particular…
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,…
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…
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…
Learning of Balance Controller Considering Changes in Body State for Musculoskeletal Humanoids
Kento Kawaharazuka, Yoshimoto Ribayashi, Akihiro Miki +4
The musculoskeletal humanoid is difficult to modelize due to the flexibility and redundancy of its body, whose state can change over time, and so balance control of its legs is cha…
Hardware Design and Learning-Based Software Architecture of Musculoskeletal Wheeled Robot Musashi-W for Real-World Applications
Kento Kawaharazuka, Akihiro Miki, Masahiro Bando +6
Various musculoskeletal humanoids have been developed so far. While these humanoids have the advantage of their flexible and redundant bodies that mimic the human body, they are st…
Continuous Jumping of a Parallel Wire-Driven Monopedal Robot RAMIEL Using Reinforcement Learning
Kento Kawaharazuka, Temma Suzuki, Kei Okada +1
We have developed a parallel wire-driven monopedal robot, RAMIEL, which has both speed and power due to the parallel wire mechanism and a long acceleration distance. RAMIEL is capa…
SAQIEL: Ultra-Light and Safe Manipulator with Passive 3D Wire Alignment Mechanism
Temma Suzuki, Masahiro Bando, Kento Kawaharazuka +2
Improving the safety of collaborative manipulators necessitates the reduction of inertia in the moving part. Within this paper, we introduce a novel approach in the form of a passi…
Design Optimization of Wire Arrangement with Variable Relay Points in Numerical Simulation for Tendon-driven Robots
Kento Kawaharazuka, Shunnosuke Yoshimura, Temma Suzuki +2
One of the most important features of tendon-driven robots is the ease of wire arrangement and the degree of freedom it affords, enabling the construction of a body that satisfies…
RAMIEL: A Parallel-Wire Driven Monopedal Robot for High and Continuous Jumping
Temma Suzuki, Yasunori Toshimitsu, Yuya Nagamatsu +8
Legged robots with high locomotive performance have been extensively studied, and various leg structures have been proposed. Especially, a leg structure that can achieve both conti…