Publications

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, 2025

Exploring the Proprioceptive Potential of Joint Receptors Using Biomimetic Robotic Joint

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

Scientific Reports, 2025

Vision-Language-Action Models for Robotics: A Review Towards Real-World Applications

K. Kawaharazuka, J. Oh, J. Yamada, I. Posner, Y. Zhu

IEEE Access, vol. 13, pp. 162467--162504, 2025

Paper arXiv Website

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), pp. 1--18, 2025

Paper

PIMBS: Efficient Body Schema Learning for Musculoskeletal Humanoids with Physics-Informed Neural Networks

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

IEEE Robotics and Automation Letters (RAL), vol. 10, no. 7, pp. 7611--7618, 2025 (presented at ICRA2026)

Paper arXiv Website

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), pp. 2500040, 2025

Paper Video

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), pp. 1--16, 2025

Paper Video

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), vol. 1, no. 1, pp. 202400021, 2025

Paper Website Video

Real-World Robot Applications of Foundation Models: A Review

K. Kawaharazuka, T. Matsushima, A. Gambardella, J. Guo, C. Paxton, A. Zeng

Advanced Robotics (AR), vol. 38, no. 18, pp. 1232--1254, 2024 (The first two authors contributed equally to this work)

🎉 Advanced Robotics Best Survey Paper Award

Paper arXiv

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), vol. 38, no. 18, pp. 1318--1334, 2024

Paper arXiv Website Video

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), vol. 38, no. 18, pp. 1307--1317, 2024

Paper arXiv Website Video

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), vol. 38, no. 15, pp. 1052--1065, 2024

Paper arXiv Website Video

GeMuCo: Generalized Multisensory Correlational Model for Body Schema Learning

K. Kawaharazuka, K. Okada, M. Inaba

IEEE Robotics and Automation Magazine (RAM), vol. 32, no. 2, pp. 80--98, 2024 (presented at ICRA2025)

Paper arXiv

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), vol. 38, no. 18, pp. 1255--1264, 2024

Paper arXiv Website Video

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), vol. 9, no. 5, pp. 4059--4066, 2024 (presented at Humanoids2024)

Paper arXiv Website Video

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), vol. 9, no. 4, pp. 3720--3727, 2024 (presented at IROS2024)

Paper arXiv Website Video

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), vol. 9, no. 2, pp. 1388--1395, 2024 (presented at IROS2024)

Paper arXiv Website Video

Deep Predictive Model Learning with Parametric Bias: Handling Modeling Difficulties and Temporal Model Changes

K. Kawaharazuka, K. Okada, M. Inaba

IEEE Robotics and Automation Magazine (RAM), vol. 31, no. 4, pp. 81--99, 2023 (presented at ICRA2023)

Paper arXiv

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), vol. 7, no. 3, pp. 7881--7887, 2022 (presented at IROS2022)

⭐ SICE International Young Authors Award (SIYA-IROS2022)

Paper arXiv Video

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, vol. 9, no. 17, pp. 1--15, 2022

Paper arXiv Video

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, vol. 16, pp. 1--16, 2022

Paper arXiv Video

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), vol. 152, pp. 1--14, 2022

Paper arXiv Video

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), vol. 7, no. 2, pp. 3459--3466, 2022 (presented at ICRA2022)

Paper arXiv Video

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

K. Kawaharazuka, K. Okada, M. Inaba

IEEE Robotics and Automation Letters (RAL), vol. 6, no. 3, pp. 5992--5999, 2021 (presented at IROS2021)

Paper arXiv Video

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), vol. 6, no. 3, pp. 5897--5904, 2021 (presented at IROS2021)

Paper arXiv Video

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), vol. 6, no. 4, pp. 6686-6692, 2021 (presented at IROS2021)

Paper arXiv Video

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), vol. 6, no. 2, pp. 1981--1988, 2021 (presented at ICRA2021)

Paper arXiv Video

Toward Autonomous Driving by Musculoskeletal Humanoids: 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), vol. 27, no. 3, pp. 84--96, 2020 (presented at ICRA2021)

Paper arXiv Video

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), vol. 5, no. 3, pp. 4580--4587, 2020 (presented at IROS2020)

Paper arXiv Video

Estimation and Control of Motor Core Temperature with Online Learning of Thermal Model Parameters: Application to Musculoskeletal Humanoids

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

IEEE Robotics and Automation Letters (RAL), vol. 5, no. 3, pp. 4273--4280, 2020 (presented at IROS2020)

Paper arXiv

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), vol. 5, no. 2, pp. 2411--2418, 2020 (presented at ICRA2020)

Paper arXiv Video

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), vol. 32, no. 2, pp. 445--458, 2020 (The first two authors contributed equally to this work)

Paper arXiv Video

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), vol. 4, no. 3, pp. 2965--2972, 2019 (presented at IROS2019)

Paper arXiv Video

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), vol. 3, no. 2, pp. 772--779, 2018 (presented at ICRA2018)

Paper arXiv Video

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), vol. 2, no. 4, pp. 2119--2126, 2017 (presented at IROS2017)

Paper arXiv Video