動画

国際学術誌・国際会議で発表した研究の動画をご紹介します。

MEVION: Low-Cost Open-Source Data Collection System for Powerful and High-Speed Dual-Arm Manipulation

K. Kawaharazuka, Y. Obinata, H. Ishida, J. Oh, T. Suzuki, S. Inoue, K. Yoneda, A. Iwata, K. Okada

IEEE Robotics and Automation Practice (RAP), 2026

MEVIUS2: Practical Open-Source Quadruped Robot with Sheet Metal Welding and Multimodal Perception

K. Kawaharazuka, K. Yoneda, S. Inoue, T. Suzuki, J. Oda, K. Okada

IEEE Robotics and Automation Practice (RAP), 2026

EFGCL: Learning Dynamic Motion through Spotting-Inspired External Force Guided Curriculum Learning

K. Yoneda, K. Kawaharazuka, K. Okada

IEEE Robotics and Automation Letters (RAL), 2026

Efficient Robot Design with Multi-Objective Black-Box Optimization and Large Language Models

K. Kawaharazuka, Y. Obinata, N. Kanazawa, H. Jia, K. Okada

IEEE Access, 2026

Detachable Wire Drive: Reconfigurable Robot Architecture with Shared Actuators

T. Hattori, K. Kawaharazuka, K. Okada

2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2026), 2026

Robust Brachiation on a Life-Sized Dual-Arm Robot Using Waypoint-Guided Reinforcement Learning

A. Iwata, K. Kawaharazuka, K. Yoneda, T. Hattori, K. Okada

2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2026), 2026

WARL: Wrench-Augmented Reinforcement Learning for Task-Agnostic Learning in Legged Robots

K. Yoneda, K. Kawaharazuka, K. Okada

2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2026), 2026

Design of a Biomimetic Joint-Covering Skin with Tissue-Like Structure to Enhance Proprioception in a Musculoskeletal Humanoid

A. Miki, S. Hasegawa, Y. Ribayashi, K. Kawaharazuka, K. Okada

2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2026), 2026

WiXus: A Wheeled-Legged Robot with Wire-Driven Environmental Utilizing to Integrate Mobility and Manipulation

S. Inoue, K. Kawaharazuka, T. Suzuki, S. Yuzaki, K. Okada

2026 IEEE International Conference on Robotics and Automation (ICRA2026), 2026

REWW-ARM - Remote Wire-Driven Mobile Robot: Design, Control, and Experimental Validation

T. Hattori, K. Kawaharazuka, T. Suzuki, K. Yoneda, K. Okada

Advanced Intelligent Systems (AISY), 2025

Dexterous Grasp Dataset Augmentation based on Grasp Synthesis with Fingertip Workspace Cloud and Contact-Aware Sampling

L. Wu, H. Jia, K. Kawaharazuka, H. Ishida, K. Okada

Advanced Robotics (AR), 2025

Liquid Metal Sloshing for High-load Active Self-healing System: An Application to Tendon-driven Legged Robot

S. Nakashima, K. Kawaharazuka, Y. Nagamatsu, K. Shinjo, A. Miki, Y. Asano, Y. Kakiuchi, K. Okada, M. Inaba

Advanced Intelligent Systems (AISY), 2025

GenAerialNav: Obstacle Avoidance in Real Flight for Generalized Multirotors by Reinforcement Learning with Variable Acc-Properties in Dynamics

H. Kozuka, M. Zhao, A. Tang, T. Nishio, I. Yanokura, K. Kawaharazuka, J. Sugihara, K. Sugihara, K. Okada, M. Inaba

Advanced Robotics (AR), 2025

Overcoming Physical Limitations Utilizing the Surrounding Environment with a Wire-Driven Multipurpose Robot

S. Inoue, K. Kawaharazuka, T. Suzuki, S. Yuzaki, K. Okada, M. Inaba

Advanced Robotics Research (ADRR), 2025

Design Optimization of Three-Dimensional Wire Arrangement Considering Wire Crossings for Tendon-driven Robots

K. Kawaharazuka, S. Inoue, Y. Sahara, K. Yoneda, T. Suzuki, K. Okada

2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2025), 2025

KLEIYN : A Quadruped Robot with an Active Waist for Both Locomotion and Wall Climbing

K. Yoneda, K. Kawaharazuka, T. Suzuki, T. Hattori, K. Okada

2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2025), 2025

An RGB-D Camera-Based Multi-Small Flying Anchors Control for Wire-Driven Robots Connecting to the Environment

S. Inoue, K. Kawaharazuka, K. Yoneda, S. Yuzaki, Y. Sahara, T. Suzuki, K. Okada

2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2025), 2025

M3D-skin: Multi-material 3D-printed Tactile Sensor with Hierarchical Infill Structures for Pressure Sensing

S. Yoshimura, K. Kawaharazuka, K. Okada

2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2025), 2025

MEVITA: Open-Source Bipedal Robot Assembled from E-Commerce Components via Sheet Metal Welding

K. Kawaharazuka, S. Sawaguchi, A. Iwata, K. Yoneda, T. Suzuki, K. Okada

2025 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2025), 2025

Design and Development of a Remotely Wire-Driven Walking Robot

T. Hattori, K. Kawaharazuka, K. Okada

2025 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2025), 2025

Learning Quiet Walking for a Small Home Robot

R. Watanabe, T. Miki, F. Shi, Y. Kadokawa, F. Bjelonic, K. Kawaharazuka, A. Cramariuc, M. Hutter

2025 IEEE International Conference on Robotics and Automation (ICRA2025), 2025

Front Hair Styling Robot System Using Path Planning for Root-Centric Strand Adjustment

S. Kim, N. Kanazawa, S. Hasegawa, K. Kawaharazuka, K. Okada

2025 IEEE/SICE International Symposium on System Integration (SII2025), 2025

Real-world cooking robot system from recipes based on food state recognition using foundation models and PDDL

N. Kanazawa, K. Kawaharazuka, Y. Obinata, K. Okada, M. Inaba

Advanced Robotics (AR), 2024

Reflex-Based Open-Vocabulary Navigation without Prior Knowledge Using Omnidirectional Camera and Multiple Vision-Language Models

K. Kawaharazuka, Y. Obinata, N. Kanazawa, N. Tsukamoto, K. Okada, M. Inaba

Advanced Robotics (AR), 2024

Behavioral Learning of Dish Rinsing and Scrubbing based on Interruptive Direct Teaching Considering Assistance Rate

S. Wakabayashi, K. Kawaharazuka, K. Okada, M. Inaba

Advanced Robotics (AR), 2024

Robotic Environmental State Recognition with Pre-Trained Vision-Language Models and Black-Box Optimization

K. Kawaharazuka, Y. Obinata, N. Kanazawa, K. Okada, M. Inaba

Advanced Robotics (AR), 2024

Continuous Object State Recognition for Cooking Robots Using Pre-Trained Vision-Language Models and Black-box Optimization

K. Kawaharazuka, N. Kanazawa, Y. Obinata, K. Okada, M. Inaba

IEEE Robotics and Automation Letters (RAL), 2024

SAQIEL: Ultra-Light and Safe Manipulator with Passive 3D Wire Alignment Mechanism

T. Suzuki, M. Bando, K. Kawaharazuka, K. Okada, M. Inaba

IEEE Robotics and Automation Letters (RAL), 2024

Design Optimization of Wire Arrangement With Variable Relay Points in Numerical Simulation for Tendon-Driven Robots

K. Kawaharazuka, S. Yoshimura, T. Suzuki, K. Okada, M. Inaba

IEEE Robotics and Automation Letters (RAL), 2024

MEVIUS: A Quadruped Robot Easily Constructed through E-Commerce with Sheet Metal Welding and Machining

K. Kawaharazuka, S. Inoue, T. Suzuki, S. Yuzaki, S. Sawaguchi, K. Okada, M. Inaba

2024 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2024), 2024

Robotic State Recognition with Image-to-Text Retrieval Task of Pre-Trained Vision-Language Model and Black-Box Optimization

K. Kawaharazuka, Y. Obinata, N. Kanazawa, K. Okada, M. Inaba

2024 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2024), 2024

CubiXMusashi: Fusion of Wire-Driven CubiX and Musculoskeletal Humanoid Musashi toward Unlimited Performance

S. Inoue, K. Kawaharazuka, T. Suzuki, S. Yuzaki, Y. Ribayashi, Y. Sahara, K. Okada

2024 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2024), 2024

Remote Life Support Robot Interface System for Global Task Planning and Local Action Expansion Using Foundation Models

Y. Obinata, H. Jia, K. Kawaharazuka, N. Kanazawa, K. Okada

2024 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2024), 2024

Vlimb: A Wire-Driven Wearable Robot for Bodily Extension, Balancing Powerfulness and Reachability

S. Sawaguchi, T. Suzuki, A. Miki, K. Kawaharazuka, S. Yuzaki, S. Yoshimura, Y. Ribayashi, K. Okada, M. Inaba

2024 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2024), 2024

Fundamental Three-Dimensional Configuration of Wire-Wound Muscle-Tendon Complex Drive

Y. Ribayashi, Y. Sahara, S. Sawaguchi, K. Miyama, A. Miki, K. Kawaharazuka, K. Okada, M. Inaba

2024 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2024), 2024

Robot Design Optimization with Rotational and Prismatic Joints Using Black-Box Multi-Objective Optimization

K. Kawaharazuka, K. Okada, M. Inaba

2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2024), 2024

CubiX: Portable Wire-Driven Parallel Robot Connecting to and Utilizing the Environment

S. Inoue, K. Kawaharazuka, T. Suzuki, S. Yuzaki, K. Okada, M. Inaba

2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2024), 2024

Robotic Constrained Imitation Learning for the Peg Transfer Task in Fundamentals of Laparoscopic Surgery

K. Kawaharazuka, K. Okada, M. Inaba

2024 IEEE International Conference on Robotics and Automation (ICRA2024), 2024

Adaptive Whole-body Robotic Tool-use Learning on Low-rigidity Plastic-made Humanoids Using Vision and Tactile Sensors

K. Kawaharazuka, K. Okada, M. Inaba

2024 IEEE International Conference on Robotics and Automation (ICRA2024), 2024

HumanMimic: Learning Natural Locomotion and Transitions for Humanoid Robot via Wasserstein Adversarial Imitation

A. Tang, T. Hiraoka, N. Hiraoka, F. Shi, K. Kawaharazuka, K. Kojima, K. Okada, M. Inaba

2024 IEEE International Conference on Robotics and Automation (ICRA2024), 2024

Body Design and Gait Generation of Chair-Type Asymmetrical Tripedal Low-rigidity Robot

S. Inoue, K. Kawaharazuka, K. Okada, M. Inaba

2024 IEEE International Conference on Soft Robotics (ROBOSOFT2024), 2024

Daily Assistive View Control Learning of Low-Cost Low-Rigidity Robot via Large-Scale Vision-Language Model

K. Kawaharazuka, N. Kanazawa, Y. Obinata, K. Okada, M. Inaba

2023 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2023), 2023

Daily Assistive Modular Robot Design Based on Multi-Objective Black-Box Optimization

K. Kawaharazuka, T. Makabe, K. Okada, M. Inaba

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2023), 2023

Development of a Whole-Body Work Imitation Learning System by a Biped and Bi-Armed Humanoid

Y. Matsuura, K. Kawaharazuka, N. Hiraoka, K. Kojima, K. Okada, M. Inaba

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2023), 2023

Development of a Five-Fingerd Biomimetic Soft Robotic Hand by 3D Printing the Skin and Skeleton As One Unit

K. Miyama, K. Kawaharazuka, K. Okada, M. Inaba

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2023), 2023

Self-Supervised Learning of Visual Servoing for Low-Rigidity Robots Considering Temporal Body Changes

K. Kawaharazuka, N. Kanazawa, K. Okada, M. Inaba

IEEE Robotics and Automation Letters (RAL), 2022

Human-mimetic binaural ear design and sound source direction estimation for task realization of musculoskeletal humanoids

Y. Omura, K. Kawaharazuka, Y. Nagamatsu, Y. Koga, M. Nishiura, Y. Toshimitsu, Y. Asano, K. Okada, K. Kawasaki, M. Inaba

Robomech Journal, 2022

Dynamic Cloth Manipulation Considering Variable Stiffness and Material Change Using Deep Predictive Model With Parametric Bias

K. Kawaharazuka, A. Miki, M. Bando, K. Okada, M. Inaba

Frontiers in Neurorobotics, 2022

Robust Continuous Motion Strategy Against Muscle Rupture using Online Learning of Redundant Intersensory Networks for Musculoskeletal Humanoids

K. Kawaharazuka, M. Nishiura, Y. Toshimitsu, Y. Omura, Y. Koga, Y. Asano, K. Okada, K. Kawasaki, M. Inaba

Robotics and Autonomous Systems (RAS), 2022

Adaptive Body Schema Learning System Considering Additional Muscles for Musculoskeletal Humanoids

K. Kawaharazuka, A. Miki, Y. Toshimitsu, K. Okada, M. Inaba

IEEE Robotics and Automation Letters (RAL), 2022

Hardware Design and Learning-Based Software Architecture of Musculoskeletal Wheeled Robot Musashi-W for Real-World Applications

K. Kawaharazuka, A. Miki, M. Bando, T. Suzuki, Y. Ribayashi, Y. Toshimitsu, Y. Nagamatsu, K. Okada, M. Inaba

2022 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2022), 2022

Continuous Jumping of a Parallel Wire-Driven Monopedal Robot RAMIEL Using Reinforcement Learning

K. Kawaharazuka, T. Suzuki, K. Okada, M. Inaba

2022 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2022), 2022

Learning-Based Wiping Behavior of Low-Rigidity Robots Considering Various Surface Materials and Task Definitions

K. Kawaharazuka, N. Kanazawa, K. Okada, M. Inaba

2022 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2022), 2022

Design of a Five-Fingered Hand with Full-Fingered Tactile Sensors Using Conductive Filaments and Its Application to Bending after Insertion Motion

K. Miyama, S. Hasegawa, K. Kawaharazuka, N. Yamaguchi, K. Okada, M. Inaba

2022 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2022), 2022

Realization of Seated Walk by a Musculoskeletal Humanoid with Buttock-Contact Sensors From Human Constrained Teaching

K. Kawaharazuka, K. Okada, M. Inaba

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2022), 2022

Online Learning Feedback Control Considering Hysteresis for Musculoskeletal Structures

K. Kawaharazuka, K. Okada, M. Inaba

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2022), 2022

Learning of Balance Controller Considering Changes in Body State for Musculoskeletal Humanoids

K. Kawaharazuka, Y. Ribayashi, A. Miki, Y. Toshimitsu, T. Suzuki, K. Okada, M. Inaba

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2022), 2022

DIJE: Dense Image Jacobian Estimation for Robust Robotic Self-Recognition and Visual Servoing

Y. Toshimitsu, K. Kawaharazuka, A. Miki, K. Okada, M. Inaba

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2022), 2022

RAMIEL: A Parallel-Wire Driven Monopedal Robot for High and Continuous Jumping

T. Suzuki, Y. Toshimitsu, Y. Nagamatsu, K. Kawaharazuka, A. Miki, Y. Ribayashi, M. Bando, K. Kojima, Y. Kakiuchi, K. Okada, M. Inaba

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2022), 2022

Adaptive Robotic Tool-Tip Control Learning Considering Online Changes in Grasping State

K. Kawaharazuka, K. Okada, M. Inaba

IEEE Robotics and Automation Letters (RAL), 2021

Imitation Learning with Additional Constraints on Motion Style using Parametric Bias

K. Kawaharazuka, Y. Kawamura, K. Okada, M. Inaba

IEEE Robotics and Automation Letters (RAL), 2021

Self-Body Image Acquisition and Posture Generation with Redundancy using Musculoskeletal Humanoid Shoulder Complex for Object Manipulation

Y. Koga, K. Kawaharazuka, Y. Toshimitsu, M. Nishiura, Y. Omura, Y. Asano, K. Okada, K. Kawasaki, M. Inaba

IEEE Robotics and Automation Letters (RAL), 2021

Automatic Grouping of Redundant Sensors and Actuators Using Functional and Spatial Connections: Application to Muscle Grouping for Musculoskeletal Humanoids

K. Kawaharazuka, M. Nishiura, Y. Koga, Y. Omura, Y. Toshimitsu, Y. Asano, K. Okada, K. Kawasaki, M. Inaba

IEEE Robotics and Automation Letters (RAL), 2021

Environmentally Adaptive Control Including Variance Minimization Using Stochastic Predictive Network with Parametric Bias: Application to Mobile Robots

K. Kawaharazuka, K. Shinjo, Y. Kawamura, K. Okada, M. Inaba

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2021), 2021

Design Optimization of Musculoskeletal Humanoids with Maximization of Redundancy to Compensate for Muscle Rupture

K. Kawaharazuka, Y. Toshimitsu, M. Nishiura, Y. Koga, Y. Omura, Y. Asano, K. Okada, K. Kawasaki, M. Inaba

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2021), 2021

Online Learning of Danger Avoidance for Complex Structures of Musculoskeletal Humanoids and Its Applications

K. Kawaharazuka, N. Hiraoka, Y. Koga, M. Nishiura, Y. Omura, Y. Asano, K. Okada, K. Kawasaki, M. Inaba

2020 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2020), 2021

Motion Modification Method of Musculoskeletal Humanoids by Human Teaching Using Muscle-Based Compensation Control

K. Kawaharazuka, Y. Koga, M. Nishiura, Y. Omura, Y. Asano, K. Okada, K. Kawasaki, M. Inaba

2020 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2020), 2021

Development of Musculoskeletal Legs with Planar Interskeletal Structures to Realize Human Comparable Moving Function

M. Onitsuka, M. Nishiura, K. Kawaharazuka, K. Tsuzuki, Y. Toshimitsu, Y. Omura, Y. Asano, K. Okada, K. Kawasaki, M. Inaba

2020 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2020), 2021

Biomimetic Operational Space Control for Musculoskeletal Humanoid Optimizing across Muscle Activation and Joint Nullspace

Y. Toshimitsu, K. Kawaharazuka, M. Nishiura, Y. Koga, Y. Omura, Y. Asano, K. Okada, K. Kawasaki, M. Inaba

2021 IEEE International Conference on Robotics and Automation (ICRA2021), 2021

Stability Recognition with Active Vibration for Bracing Behaviors and Motion Extensions Using Environment in Musculoskeletal Humanoids

K. Kawaharazuka, M. Nishiura, S. Nakashima, Y. Toshimitsu, Y. Omura, Y. Koga, Y. Asano, K. Okada, K. Kawasaki, M. Inaba

2021 IEEE International Conference on Soft Robotics (ROBOSOFT2021), 2021

Toward Autonomous Driving by Musculoskeletal Humanoids: A Study of Developed Hardware and Learning-Based Software

K. Kawaharazuka, K. Tsuzuki, Y. Koga, Y. Omura, T. Makabe, K. Shinjo, M. Onitsuka, Y. Nagamatsu, Y. Asano, K. Okada, K. Kawasaki, M. Inaba

IEEE Robotics and Automation Magazine (RAM), 2020

Object Recognition, Dynamic Contact Simulation, Detection, and Control of the Flexible Musculoskeletal Hand Using a Recurrent Neural Network With Parametric Bias

K. Kawaharazuka, K. Tsuzuki, M. Onitsuka, Y. Asano, K. Okada, K. Kawasaki, M. Inaba

IEEE Robotics and Automation Letters (RAL), 2020

Musculoskeletal AutoEncoder: A Unified Online Acquisition Method of Intersensory Networks for State Estimation, Control, and Simulation of Musculoskeletal Humanoids

K. Kawaharazuka, K. Tsuzuki, M. Onitsuka, Y. Asano, K. Okada, K. Kawasaki, M. Inaba

IEEE Robotics and Automation Letters (RAL), 2020

Human Mimetic Forearm and Hand Design with a Radioulnar Joint and Flexible Machined Spring Finger for Human Skillful Motions

K. Kawaharazuka, S. Makino, M. Kawamura, S. Nakashima, Y. Asano, K. Okada, M. Inaba

Journal of Robotics and Mechatronics (JRM), 2020

Exceeding the Maximum Speed Limit of the Joint Angle for the Redundant Tendon-driven Structures of Musculoskeletal Humanoids

K. Kawaharazuka, Y. Koga, K. Tsuzuki, M. Onitsuka, Y. Asano, K. Okada, K. Kawasaki, M. Inaba

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2020), 2020

Applications of Stretch Reflex for the Upper Limb of Musculoskeletal Humanoids: Protective Behavior, Postural Stability, and Active Induction

K. Kawaharazuka, Y. Koga, K. Tsuzuki, M. Onitsuka, Y. Asano, K. Okada, K. Kawasaki, M. Inaba

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2020), 2020

Tool Shape Optimization through Backpropagation of Neural Network

K. Kawaharazuka, T. Ogawa, C. Nabeshima

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2020), 2020

Biomimetic Control Scheme for Musculoskeletal Humanoids Based on Motor Directional Tuning in the Brain

Y. Toshimitsu, K. Kawaharazuka, K. Tsuzuki, M. Onitsuka, M. Nishiura, Y. Koga, Y. Omura, M. Tomita, Y. Asano, K. Okada, K. Kawasaki, M. Inaba

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2020), 2020

Stable Tool-Use with Flexible Musculoskeletal Hands by Learning the Predictive Model of Sensor State Transition

K. Kawaharazuka, K. Tsuzuki, M. Onitsuka, Y. Asano, K. Okada, K. Kawasaki, M. Inaba

2020 IEEE International Conference on Robotics and Automation (ICRA2020), 2020

Long-time Self-body Image Acquisition and its Application to the Control of Musculoskeletal Structures

K. Kawaharazuka, K. Tsuzuki, S. Makino, M. Onitsuka, Y. Asano, K. Okada, K. Kawasaki, M. Inaba

IEEE Robotics and Automation Letters (RAL), 2019

Component Modularized Design of Musculoskeletal Humanoid Platform Musashi to Investigate Learning Control Systems

K. Kawaharazuka, S. Makino, K. Tsuzuki, M. Onitsuka, Y. Nagamatsu, K. Shinjo, T. Makabe, Y. Asano, K. Okada, K. Kawasaki, M. Inaba

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2019), 2019

Task-specific Self-body Controller Acquisition by Musculoskeletal Humanoids: Application to Pedal Control in Autonomous Driving

K. Kawaharazuka, K. Tsuzuki, S. Makino, M. Onitsuka, K. Shinjo, Y. Asano, K. Okada, K. Kawasaki, M. Inaba

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2019), 2019

Dynamic Task Control Method of a Flexible Manipulator Using a Deep Recurrent Neural Network

K. Kawaharazuka, T. Ogawa, C. Nabeshima

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2019), 2019

Reflex-based Motion Strategy of Musculoskeletal Humanoids under Environmental Contact Using Muscle Relaxation Control

K. Kawaharazuka, K. Tsuzuki, M. Onitsuka, Y. Koga, Y. Omura, Y. Asano, K. Okada, K. Kawasaki, M. Inaba

2019 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2019), 2019

Modification of Muscle Antagonistic Relations and Hand Trajectory on the Dynamic Motion of Musculoskeletal Humanoid

Y. Koga, K. Kawaharazuka, M. Onitsuka, T. Makabe, K. Tsuzuki, Y. Omura, Y. Asano, K. Okada, M. Inaba

2019 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2019), 2019

Dynamic Manipulation of Flexible Objects with Torque Sequence Using a Deep Neural Network

K. Kawaharazuka, T. Ogawa, J. Tamura, C. Nabeshima

2019 IEEE International Conference on Robotics and Automation (ICRA2019), 2019

Online Learning of Joint-Muscle Mapping using Vision in Tendon-driven Musculoskeletal Humanoids

K. Kawaharazuka, S. Makino, M. Kawamura, Y. Asano, K. Okada, M. Inaba

IEEE Robotics and Automation Letters (RAL), 2018

TWIMP: Two-Wheel Inverted Musculoskeletal Pendulum as a Learning Control Platform in the Real World with Environmental Physical Contact

K. Kawaharazuka, T. Makabe, S. Makino, K. Tsuzuki, Y. Nagamatsu, Y. Asano, T. Shirai, F. Sugai, K. Okada, K. Kawasaki, M. Inaba

2018 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2018), 2018

A Method of Joint Angle Estimation Using Only Relative Changes in Muscle Lengths for Tendon-driven Humanoids with Complex Musculoskeletal Structures

K. Kawaharazuka, S. Makino, M. Kawamura, Y. Asano, K. Okada, M. Inaba

2018 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2018), 2018

Online Self-body Image Acquisition Considering Changes in Muscle Routes Caused by Softness of Body Tissue for Tendon-driven Musculoskeletal Humanoids

K. Kawaharazuka, S. Makino, M. Kawamura, A. Fujii, Y. Asano, K. Okada, M. Inaba

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018), 2018

Five-Fingered Hand with Wide Range of Thumb Using Combination of Machined Springs and Variable Stiffness Joints

S. Makino, K. Kawaharazuka, M. Kawamura, A. Fujii, T. Makabe, M. Onitsuka, Y. Asano, K. Okada, K. Kawasaki, M. Inaba

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018), 2018

Antagonist Inhibition Control in Redundant Tendon-driven Structures Based on Human Reciprocal Innervation for Wide Range Limb Motion of Musculoskeletal Humanoids

K. Kawaharazuka, M. Kawamura, S. Makino, Y. Asano, K. Okada, M. Inaba

IEEE Robotics and Automation Letters (RAL), 2017

Human Mimetic Forearm Design with Radioulnar Joint using Miniature Bone-muscle Modules and its Applications

K. Kawaharazuka, S. Makino, M. Kawamura, Y. Asano, Y. Kakiuchi, K. Okada, M. Inaba

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2017), 2017

High-power, flexible, robust hand: Development of musculoskeletal hand using machined springs and realization of self-weight supporting motion with humanoid

S. Makino, K. Kawaharazuka, M. Kawamura, Y. Asano, K. Okada, M. Inaba

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2017), 2017

Human Mimetic Musculoskeletal Humanoid Kengoro toward Real World Physically Interactive Actions

Y. Asano, T. Kozuki, S. Ookubo, M. Kawamura, S. Nakashima, T. Katayama, I. Yanokura, T. Hirose, K. Kawaharazuka, S. Makino, Y. Kakiuchi, K. Okada, M. Inaba

2016 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2016), 2016