16 papers
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…
Optimization-based Posture Generation for Whole-body Contact Motion by Contact Point Search on the Body Surface
Masaki Murooka, Kei Okada, Masayuki Inaba
Whole-body contact is an effective strategy for improving the stability and efficiency of the motion of robots. For robots to automatically perform such motions, we propose a postu…
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…
Reflex-based Motion Strategy of Musculoskeletal Humanoids under Environmental Contact Using Muscle Relaxation Control
Kento Kawaharazuka, Kei Tsuzuki, Moritaka Onitsuka +6
The musculoskeletal humanoid can move well under environmental contact thanks to its body softness. However, there are few studies that actively make use of the environment to rest…
Online Learning of Danger Avoidance for Complex Structures of Musculoskeletal Humanoids and Its Applications
Kento Kawaharazuka, Naoki Hiraoka, Yuya Koga +6
The complex structure of musculoskeletal humanoids makes it difficult to model them, and the inter-body interference and high internal muscle force are unavoidable. Although variou…
Applications of Stretch Reflex for the Upper Limb of Musculoskeletal Humanoids: Protective Behavior, Postural Stability, and Active Induction
Kento Kawaharazuka, Yuya Koga, Kei Tsuzuki +5
The musculoskeletal humanoid has various biomimetic benefits, and it is important that we can embed and evaluate human reflexes in the actual robot. Although stretch reflex has bee…