17 papers
Design, Control, and Motion Strategy for DELTA: Transformable Multilink Multirotor for Air-Ground Hybrid Locomotion and Manipulation
Kazuki Sugihara, Moju Zhao, Takuzumi Nishio +2
In recent years, multimodal locomotion capabilities have enabled robots to maneuver in both terrestrial and aerial domains. However, most of these robots are designed only for loco…
Characteristics, Management, and Utilization of Muscles in Musculoskeletal Humanoids: Empirical Study on Kengoro and Musashi
Kento Kawaharazuka, Kei Okada, Masayuki Inaba
Various musculoskeletal humanoids have been developed so far, and numerous studies on control mechanisms have been conducted to leverage the advantages of their biomimetic bodies.…
Flexible Morphing Aerial Robot with Inflatable Structure for Perching-based Human-Robot Interaction
Ayano Miyamichi, Moju Zhao, Kazuki Sugihara +5
Birds in nature perform perching not only for rest but also for interaction with human such as the relationship with falconers. Recently, researchers achieve perching-capable aeria…
Development of a Five-Fingerd Biomimetic Soft Robotic Hand by 3D Printing the Skin and Skeleton as One Unit
Kazuhiro Miyama, Kento Kawaharazuka, Kei Okada +1
Robot hands that imitate the shape of the human body have been actively studied, and various materials and mechanisms have been proposed to imitate the human body. Although the use…
CoverLib: Classifiers-equipped Experience Library by Iterative Problem Distribution Coverage Maximization for Domain-tuned Motion Planning
Hirokazu Ishida, Naoki Hiraoka, Kei Okada +1
Library-based methods are known to be very effective for fast motion planning by adapting an experience retrieved from a precomputed library. This article presents CoverLib, a prin…
Behavioral Learning of Dish Rinsing and Scrubbing based on Interruptive Direct Teaching Considering Assistance Rate
Shumpei Wakabayashi, Kento Kawaharazuka, Kei Okada +1
Robots are expected to manipulate objects in a safe and dexterous way. For example, washing dishes is a dexterous operation that involves scrubbing the dishes with a sponge and rin…