7 papers
A Benchmark of Dexterity for Anthropomorphic Robotic Hands
Davide Liconti, Yuning Zhou, Yasunori Toshimitsu +2
Dexterity is a central yet ambiguously defined concept in the design and evaluation of anthropomorphic robotic hands. In practice, the term is often used inconsistently, with diffe…
A Sensorless, Inherently Compliant Anthropomorphic Musculoskeletal Hand Driven by Electrohydraulic Actuators
Misato Sonoda, Ronan Hinchet, Amirhossein Kazemipour +2
Robotic manipulation in unstructured environments requires end-effectors that combine kinematic dexterity with physical compliance. While traditional rigid hands rely on complex ex…
DIJE: Dense Image Jacobian Estimation for Robust Robotic Self-Recognition and Visual Servoing
Yasunori Toshimitsu, Kento Kawaharazuka, Akihiro Miki +2
For robots to move in the real world, they must first correctly understand the state of its own body and the tools that it holds. In this research, we propose DIJE, an algorithm to…
Stability Recognition with Active Vibration for Bracing Behaviors and Motion Extensions Using Environment in Musculoskeletal Humanoids
Kento Kawaharazuka, Manabu Nishiura, Shinsuke Nakashima +7
Although robots with flexible bodies are superior in terms of the contact and adaptability, it is difficult to control them precisely. On the other hand, human beings make use of t…
Design Optimization of Musculoskeletal Humanoids with Maximization of Redundancy to Compensate for Muscle Rupture
Kento Kawaharazuka, Yasunori Toshimitsu, Manabu Nishiura +6
Musculoskeletal humanoids have various biomimetic advantages, and the redundant muscle arrangement allowing for variable stiffness control is one of the most important. In this stu…
Adaptive Body Schema Learning System Considering Additional Muscles for Musculoskeletal Humanoids
Kento Kawaharazuka, Akihiro Miki, Yasunori Toshimitsu +2
One of the important advantages of musculoskeletal humanoids is that the muscle arrangement can be easily changed and the number of muscles can be increased according to the situat…