Zobrazeno 1 - 10
of 411
pro vyhledávání: '"Inaba, Masayuki"'
Autor:
Kawaharazuka, Kento, Tsuzuki, Kei, Onitsuka, Moritaka, Asano, Yuki, Okada, Kei, Kawasaki, Koji, Inaba, Masayuki
The flexible under-actuated musculoskeletal hand is superior in its adaptability and impact resistance. On the other hand, since the relationship between sensors and actuators cannot be uniquely determined, almost all its controls are based on feedfo
Externí odkaz:
http://arxiv.org/abs/2406.17136
Autor:
Kawaharazuka, Kento, Tsuzuki, Kei, Onitsuka, Moritaka, Asano, Yuki, Okada, Kei, Kawasaki, Koji, Inaba, Masayuki
While the musculoskeletal humanoid has various biomimetic benefits, the modeling of its complex structure is difficult, and many learning-based systems have been developed so far. There are various methods, such as control methods using acquired rela
Externí odkaz:
http://arxiv.org/abs/2406.17134
Autor:
Kawaharazuka, Kento, Tsuzuki, Kei, Koga, Yuya, Omura, Yusuke, Makabe, Tasuku, Shinjo, Koki, Onitsuka, Moritaka, Nagamatsu, Yuya, Asano, Yuki, Okada, Kei, Kawasaki, Koji, Inaba, Masayuki
This paper summarizes an autonomous driving project by musculoskeletal humanoids. The musculoskeletal humanoid, which mimics the human body in detail, has redundant sensors and a flexible body structure. These characteristics are suitable for motions
Externí odkaz:
http://arxiv.org/abs/2406.05573
Manipulation performance improvement is crucial for aerial robots. For aerial manipulators, the baselink position and attitude errors directly affect the precision at the end effector. To address this stability problem, fixed-body approaches such as
Externí odkaz:
http://arxiv.org/abs/2405.12125
Autor:
Kawaharazuka, Kento, Ribayashi, Yoshimoto, Miki, Akihiro, Toshimitsu, Yasunori, Suzuki, Temma, Okada, Kei, Inaba, Masayuki
The musculoskeletal humanoid is difficult to modelize due to the flexibility and redundancy of its body, whose state can change over time, and so balance control of its legs is challenging. There are some cases where ordinary PID controls may cause i
Externí odkaz:
http://arxiv.org/abs/2405.11803
While the musculoskeletal humanoid has various biomimetic benefits, its complex modeling is difficult, and many learning control methods have been developed. However, for the actual robot, the hysteresis of its joint angle tracking is still an obstac
Externí odkaz:
http://arxiv.org/abs/2405.11808
In this study, we investigate object grasping by visual servoing in a low-rigidity robot. It is difficult for a low-rigidity robot to handle its own body as intended compared to a rigid robot, and calibration between vision and body takes some time.
Externí odkaz:
http://arxiv.org/abs/2405.11798
Various robots have been developed so far; however, we face challenges in modeling the low-rigidity bodies of some robots. In particular, the deflection of the body changes during tool-use due to object grasping, resulting in significant shifts in th
Externí odkaz:
http://arxiv.org/abs/2405.04826
In this study, we present an implementation strategy for a robot that performs peg transfer tasks in Fundamentals of Laparoscopic Surgery (FLS) via imitation learning, aimed at the development of an autonomous robot for laparoscopic surgery. Robotic
Externí odkaz:
http://arxiv.org/abs/2405.03440
Library-based methods are known to be very effective for fast motion planning by adapting an experience retrieved from a precomputed library. This article presents CoverLib, a principled approach for constructing and utilizing such a library. CoverLi
Externí odkaz:
http://arxiv.org/abs/2405.02968