Robots
Each robot is associated with a set of publications.
KLEIYN - Quadruped Robot with an Active Waist
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
MEVIUS - Open Source Quadruped Robot
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), pp. 631--636, 2024
CUBIX - Mobile Wire-Driven Robot
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
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
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), pp. 274--279, 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), pp. 1296--1301, 2024
SAQIEL - Ultra-Light and Safe Manipulator
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)
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)
RAMIEL - Monopedal Jumping Robot
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), pp. 759--764, 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), pp. 5017--5024, 2022
VLimb - High-Power Wearable Fifth Limb
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), pp. 851--857, 2024
Kangaroo - Biomimetic Jumping Robot
Bio-inspired robot that mimics kangaroo jumping mechanics.
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)
Musashi – Component Modularized Musculoskeletal Humanoid
Modulaized musculoskeletal humanoid for body schema and control research.
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)
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)
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)
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
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
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)
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)
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)
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)
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)
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)
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
Design of Robot Foot with Outer Edge Measurement Structure and Chair Rotation Motion by Friction Control
Y. Ribayashi, K. Kawaharazuka, Y. Toshimitsu, D. Kusuyama, A. Miki, K. Shinjo, M. Bando, T. Suzuki, Y. Kojio, K. Okada, M. Inaba
2022 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2022), pp. 314--321, 2022 (Top 7 Best Oral Paper Presentation)
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), pp. 5767--5773, 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), pp. 5809--5816, 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), pp. 2219--2226, 2022
Imitation Behavior of the Outer Edge of the Foot by Humanoids Using a Simplified Contact State Representation
Y. Ribayashi, K. Kawaharazuka, Y. Toshimitsu, D. Kusuyama, A. Miki, K. Shinjo, M. Bando, T. Suzuki, Y. Kojio, K. Okada, M. Inaba
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2022), pp. 4243--4249, 2022
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), pp. 3204--3210, 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), pp. 349--355, 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), pp. 83--89, 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), pp. 126--133, 2021
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), pp. 3585--3590, 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), pp. 3598--3603, 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), pp. 4572--4578, 2020
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), pp. 7294--7301, 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), pp. 813--818, 2019
Foot with a Core-shell Structural Six-axis Force Sensor for Pedal Depressing and Recovering from Foot Slipping during Pedal Pushing Toward Autonomous Driving by Humanoids
K. Shinjo, K. Kawaharazuka, Y. Asano, S. Nakashima, S. Makino, M. Onitsuka, K. Tsuzuki, K. Okada, K. Kawasaki, M. Inaba
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2019), pp. 3049--3054, 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), pp. 114--119, 2019
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), pp. 4562--4567, 2018
MusashiWheeled – Wheeled Musculoskeletal Humanoid
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)
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
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)
Fusion of Body and Environment with Movable Carabiners for Wire-Driven Robots Toward Expansion of Physical Capabilities
S. Yuzaki, A. Miki, M. Bando, S. Yoshimura, T. Suzuki, K. Kawaharazuka, K. Okada, M. Inaba
2023 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2023), pp. 679--685, 2023
System Architecture and Real-World Task Realization of Musculoskeletal Wheeled Robot Musashi-W with Various Hardware Components
A. Miki, K. Kawaharazuka, M. Bando, K. Okada, K. Kawasaki, M. Inaba
18th International Conference on Intelligent Autonomous Systems (IAS2023), pp. 109--122, 2023
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), pp. 413--419, 2022
MusashiOLegs - Highly-Biomimetic Modularized Legs
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), pp. 5774--5780, 2022
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), pp. 17--24, 2021
MusashiLarm - Left Arm of Musashi
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)
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)
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)
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), pp. 1184--1190, 2021
TWIMP - Two-Wheeled Inverted Musculoskeletal Pendulum
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), pp. 784--790, 2018 (The first two authors contributed equally to this work)
Kengoro - Highly-Biomimetic Musculoskeletal Humanoid
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)
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)
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)
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)
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)
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), pp. 7784--7791, 2020
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), pp. 632--637, 2019
Ankle-Hip-Stepping Stabilizer on Tendon-Driven Humanoid Kengoro by Integration of Muscle-Joint-Work Space Controllers for Knee-Stretched Humanoid Balance
Y. Asano, S. Nakashima, I. Yanokura, M. Onitsuka, K. Kawaharazuka, K. Tsuzuki, Y. Koga, Y. Omura, K. Okada, M. Inaba
2019 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2019), pp. 397--402, 2019
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), pp. 1128--1135, 2018
Development of Movable Binocular High-Resolution Eye-Camera Unit for Humanoid and the Evaluation of Looking Around Fixation Control and Object Recognition
T. Makabe, K. Kawaharazuka, K. Tsuzuki, K. Wada, S. Makino, M. Kawamura, A. Fujii, M. Onitsuka, Y. Asano, K. Okada, K. Kawasaki, M. Inaba
2018 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2018), pp. 840--845, 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), pp. 1711--1717, 2018
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), pp. 4956--4962, 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), pp. 1187--1192, 2017
Human Mimetic Musculoskeletal Humanoid Kengoro toward Real World Physically Interactive Actions
Y. Asano, T. Kozuki, S. Ookubo, M. Kawamura, S. Nakashima, T. Katayama, Y. Iori, H. Toshinori, K. Kawaharazuka, S. Makino, Y. Kakiuchi, K. Okada, M. Inaba
2016 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2016), pp. 876--883, 2016
Chair-Type Asymmetrical Tripedal Robot
ORS - Modular Robot with Lock Mechanism
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), pp. 9970--9977, 2023
Online Estimation of Self-Body Deflection with Various Sensor Data Based on Directional Statistics
H. Sato, K. Kawaharazuka, T. Makabe, K. Okada, M. Inaba
2023 IEEE/SICE International Symposium on System Integration (SII2023), pp. 1--8, 2023
Efficient Robot Design with Multi-Objective Black-Box Optimization and Large Language Models
K. Kawaharazuka, Y. Obinata, N. Kanazawa, H. Jia, K. Okada
arXiv preprint arXiv:2511.17178, 2025
A0B - Manipulator with High-Speed Communication
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
Workspace-Based Precision Grasp Pose Generator for Multi-Fingered Robotic Hands
L. Wu, K. Kawaharazuka, S. Hasegawa, K. Okada, M. Inaba
18th International Conference on Intelligent Autonomous Systems (IAS2023), pp. 379--392, 2023
Jaxon - High Power Humanoid
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), pp. 13107--13114, 2024
DualPanda - Dual-Arm Manipulator
HIRO - Dual-Arm Manipulator
MyCobot - Low-Cost Low-Rigidity Manipulator
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)
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)
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
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), pp. 452--457, 2023
KXR - Low-Rigidity Plastic-Made Humanoid
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)
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), pp. 4571--4577, 2024
Fetch - Mobile Manipulator
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
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
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)
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), pp. 934--940, 2024
Robotic Applications of Pre-Trained Vision-Language Models to Various Recognition Behaviors
K. Kawaharazuka, Y. Obinata, N. Kanazawa, K. Okada, M. Inaba
2023 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2023), pp. 458--465, 2023
Semantic Scene Difference Detection in Daily Life Patroling by Mobile Robots Using Pre-Trained Large-Scale Vision-Language Model
Y. Obinata, K. Kawaharazuka, N. Kanazawa, N. Yamaguchi, N. Tsukamoto, I. Yanokura, S. Kitagawa, K. Shinjo, K. Okada, M. Inaba
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2023), pp. 3228--3233, 2023
VQA-based Robotic State Recognition Optimized with Genetic Algorithm
K. Kawaharazuka, Y. Obinata, N. Kanazawa, K. Okada, M. Inaba
2023 IEEE International Conference on Robotics and Automation (ICRA2023), pp. 8306--8311, 2023
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), pp. 8381--8387, 2021
Binary State Recognition by Robots using Visual Question Answering of Pre-Trained Vision-Language Model
K. Kawaharazuka, Y. Obinata, N. Kanazawa, K. Okada, M. Inaba
arXiv preprint arXiv:2310.16405, 2023
PR2 - Mobile Manipulator
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
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
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)
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)
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)
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)
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)
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), pp. 738--743, 2024
Open X-Embodiment: Robotic Learning Datasets and RT-X Models
Open X-Embodiment Collaboration
2024 IEEE International Conference on Robotics and Automation (ICRA2024), pp. 6892--6903, 2024
HSR - Human Support Robot
Spot - Quadruped Robot
A Method for Selecting Scenes and Emotion-Based Descriptions for a Robot's Diary
A. Ichikura, K. Kawaharazuka, Y. Obinata, K. Okada, M. Inaba
32nd IEEE International Conference on Robot and Human Interactive Communication (ROMAN2023), pp. 1683--1688, 2023
