6 papers
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…
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…
Design and Development of a Remotely Wire-Driven Walking Robot
Takahiro Hattori, Kento Kawaharazuka, Kei Okada
Operating in environments too harsh or inaccessible for humans is one of the critical roles expected of robots. However, such environments often pose risks to electronic components…
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…
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…