Videos

Selected videos for international journal and conference papers.

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

S. Nakashima and K. Kawaharazuka and Y. Nagamatsu and K. Shinjo and A. Miki and Y. Asano and Y. Kakiuchi and K. Okada and 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 and M. Zhao and A. Tang and T. Nishio and I. Yanokura and K. Kawaharazuka and J. Sugihara and K. Sugihara and K. Okada and M. Inaba

Advanced Robotics (AR), 2025

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

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

Advanced Robotics Research (ADRR), 2025

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

K. Kawaharazuka and S. Inoue and Y. Sahara and K. Yoneda and T. Suzuki and 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 and K. Kawaharazuka and T. Suzuki and T. Hattori and 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 and K. Kawaharazuka and K. Yoneda and S. Yuzaki and Y. Sahara and T. Suzuki and 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 and K. Kawaharazuka and 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 and S. Sawaguchi and A. Iwata and K. Yoneda and T. Suzuki and K. Okada

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

Design and Development of a Remotely Wire-Driven Walking Robot

T. Hattori and K. Kawaharazuka and K. Okada

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

Learning Quiet Walking for a Small Home Robot

R. Watanabe and T. Miki and F. Shi and Y. Kadokawa and F. Bjelonic and K. Kawaharazuka and A. Cramariuc and 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 and N. Kanazawa and S. Hasegawa and K. Kawaharazuka and 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 and K. Kawaharazuka and Y. Obinata and K. Okada and M. Inaba

Advanced Robotics (AR), 2024

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

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

Advanced Robotics (AR), 2024

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

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

Advanced Robotics (AR), 2024

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

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

IEEE Robotics and Automation Letters (RAL), 2024

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

T. Suzuki and M. Bando and K. Kawaharazuka and K. Okada and 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 and S. Yoshimura and T. Suzuki and K. Okada and 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 and S. Inoue and T. Suzuki and S. Yuzaki and S. Sawaguchi and K. Okada and 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 and Y. Obinata and N. Kanazawa and K. Okada and 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 and K. Kawaharazuka and T. Suzuki and S. Yuzaki and Y. Ribayashi and Y. Sahara and 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 and H. Jia and K. Kawaharazuka and N. Kanazawa and 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 and T. Suzuki and A. Miki and K. Kawaharazuka and S. Yuzaki and S. Yoshimura and Y. Ribayashi and K. Okada and 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 and Y. Sahara and S. Sawaguchi and K. Miyama and A. Miki and K. Kawaharazuka and K. Okada and 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 and K. Okada and 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 and K. Kawaharazuka and T. Suzuki and S. Yuzaki and K. Okada and 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 and K. Okada and 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 and K. Okada and 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 and T. Hiraoka and N. Hiraoka and F. Shi and K. Kawaharazuka and K. Kojima and K. Okada and 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 and K. Kawaharazuka and K. Okada and 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 and N. Kanazawa and Y. Obinata and K. Okada and 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 and T. Makabe and K. Okada and 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 and K. Kawaharazuka and N. Hiraoka and K. Kojima and K. Okada and 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 and N. Kanazawa and K. Okada and 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 and K. Kawaharazuka and Y. Nagamatsu and Y. Koga and M. Nishiura and Y. Toshimitsu and Y. Asano and K. Okada and K. Kawasaki and M. Inaba

Robomech Journal, 2022

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

K. Kawaharazuka and A. Miki and M. Bando and K. Okada and 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 and M. Nishiura and Y. Toshimitsu and Y. Omura and Y. Koga and Y. Asano and K. Okada and K. Kawasaki and M. Inaba

Robotics and Autonomous Systems (RAS), 2022

Adaptive Body Schema Learning System Considering Additional Muscles for Musculoskeletal Humanoids

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

IEEE Robotics and Automation Letters (RAL), 2021

Imitation Learning with Additional Constraints on Motion Style using Parametric Bias

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

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

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

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

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

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

K. Kawaharazuka and K. Tsuzuki and Y. Koga and Y. Omura and T. Makabe and K. Shinjo and M. Onitsuka and Y. Nagamatsu and Y. Asano and K. Okada and K. Kawasaki and 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 and K. Tsuzuki and M. Onitsuka and Y. Asano and K. Okada and K. Kawasaki and 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 and K. Tsuzuki and M. Onitsuka and Y. Asano and K. Okada and K. Kawasaki and 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 and S. Makino and M. Kawamura and S. Nakashima and Y. Asano and K. Okada and M. Inaba

Journal of Robotics and Mechatronics (JRM), 2020

Tool Shape Optimization through Backpropagation of Neural Network

K. Kawaharazuka and T. Ogawa and 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 and K. Kawaharazuka and K. Tsuzuki and M. Onitsuka M. Nishiura and Y. Koga and Y. Omura and M. Tomita and Y. Asano and K. Okada and K. Kawasaki and 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 and K. Tsuzuki and M. Onitsuka and Y. Asano and K. Okada and K. Kawasaki and 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 and K. Tsuzuki and S. Makino and M. Onitsuka and Y. Asano and K. Okada and K. Kawasaki and M. Inaba

IEEE Robotics and Automation Letters (RAL), 2019

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

K. Kawaharazuka and S. Makino and K. Tsuzuki and M. Onitsuka and Y. Nagamatsu and K. Shinjo and T. Makabe and Y. Asano and K. Okada and K. Kawasaki and 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 and K. Tsuzuki and S. Makino and M. Onitsuka and K. Shinjo and Y. Asano and K. Okada and K. Kawasaki and 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 and T. Ogawa and C. Nabeshima

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

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

Y. Koga and K. Kawaharazuka and M. Onitsuka and T. Makabe and K. Tsuzuki and Y. Omura and Y. Asano and K. Okada and 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 and T. Ogawa and J. Tamura and 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 and S. Makino and M. Kawamura and Y. Asano and K. Okada and 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 and T. Makabe and S. Makino and K. Tsuzuki and Y. Nagamatsu and Y. Asano and T. Shirai and F. Sugai and K. Okada and K. Kawasaki and 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 and S. Makino and M. Kawamura and Y. Asano and K. Okada and 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 and S. Makino and M. Kawamura and A. Fujii and Y. Asano and K. Okada and 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 and K. Kawaharazuka and M. Kawamura and A. Fujii and T. Makabe and M. Onitsuka and Y. Asano and K. Okada and K. Kawasaki and 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 and M. Kawamura and S. Makino and Y. Asano and K. Okada and 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 and S. Makino and M. Kawamura and Y. Asano and Y. Kakiuchi and K. Okada and 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 and K. Kawaharazuka and M. Kawamura and Y. Asano and K. Okada and 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 and T. Kozuki and S. Ookubo and M. Kawamura and S. Nakashima and T. Katayama and Y. Iori and H. Toshinori and K. Kawaharazuka and S. Makino and Y. Kakiuchi and K. Okada and M. Inaba

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