Zobrazeno 1 - 10
of 354
pro vyhledávání: '"KAWASAKI, KOJI"'
Autor:
Kawaharazuka, Kento, Tsuzuki, Kei, Makino, Shogo, Onitsuka, Moritaka, Shinjo, Koki, Asano, Yuki, Okada, Kei, Kawasaki, Koji, Inaba, Masayuki
The musculoskeletal humanoid has many benefits that human beings have, but the modeling of its complex flexible body is difficult. Although we have developed an online acquisition method of the nonlinear relationship between joints and muscles, we co
Externí odkaz:
http://arxiv.org/abs/2412.08270
Autor:
Kawaharazuka, Kento, Koga, Yuya, Nishiura, Manabu, Omura, Yusuke, Asano, Yuki, Okada, Kei, Kawasaki, Koji, Inaba, Masayuki
While musculoskeletal humanoids have the advantages of various biomimetic structures, it is difficult to accurately control the body, which is challenging to model. Although various learning-based control methods have been developed so far, they cann
Externí odkaz:
http://arxiv.org/abs/2411.06323
Autor:
Koga, Yuya, Kawaharazuka, Kento, Toshimitsu, Yasunori, Nishiura, Manabu, Omura, Yusuke, Asano, Yuki, Okada, Kei, Kawasaki, Koji, Inaba, Masayuki
We proposed a method for learning the actual body image of a musculoskeletal humanoid for posture generation and object manipulation using inverse kinematics with redundancy in the shoulder complex. The effectiveness of this method was confirmed by r
Externí odkaz:
http://arxiv.org/abs/2411.06320
Autor:
Kawaharazuka, Kento, Makino, Shogo, Tsuzuki, Kei, Onitsuka, Moritaka, Nagamatsu, Yuya, Shinjo, Koki, Makabe, Tasuku, Asano, Yuki, Okada, Kei, Kawasaki, Koji, Inaba, Masayuki
To develop Musashi as a musculoskeletal humanoid platform to investigate learning control systems, we aimed for a body with flexible musculoskeletal structure, redundant sensors, and easily reconfigurable structure. For this purpose, we develop joint
Externí odkaz:
http://arxiv.org/abs/2410.22000
Autor:
Kawaharazuka, Kento, Nishiura, Manabu, Toshimitsu, Yasunori, Omura, Yusuke, Koga, Yuya, Asano, Yuki, Kawasaki, Koji, Inaba, Masayuki
Musculoskeletal humanoids have various biomimetic advantages, of which redundant muscle arrangement is one of the most important features. This feature enables variable stiffness control and allows the robot to keep moving its joints even if one of t
Externí odkaz:
http://arxiv.org/abs/2409.14951
Autor:
Omura, Yusuke, Kawaharazuka, Kento, Nagamatsu, Yuya, Koga, Yuya, Nishiura, Manabu, Toshimitsu, Yasunori, Asano, Yuki, Okada, Kei, Kawasaki, Koji, Inaba, Masayuki
Human-like environment recognition by musculoskeletal humanoids is important for task realization in real complex environments and for use as dummies for test subjects. Humans integrate various sensory information to perceive their surroundings, and
Externí odkaz:
http://arxiv.org/abs/2409.06429
Autor:
Kawaharazuka, Kento, Nishiura, Manabu, Koga, Yuya, Omura, Yusuke, Toshimitsu, Yasunori, Asano, Yuki, Okada, Kei, Kawasaki, Koji, Inaba, Masayuki
For a robot with redundant sensors and actuators distributed throughout its body, it is difficult to construct a controller or a neural network using all of them due to computational cost and complexity. Therefore, it is effective to extract function
Externí odkaz:
http://arxiv.org/abs/2409.00678
Autor:
Kawaharazuka, Kento, Hiraoka, Naoki, Tsuzuki, Kei, Onitsuka, Moritaka, Asano, Yuki, Okada, Kei, Kawasaki, Koji, Inaba, Masayuki
The estimation and management of motor temperature are important for the continuous movements of robots. In this study, we propose an online learning method of thermal model parameters of motors for an accurate estimation of motor core temperature. A
Externí odkaz:
http://arxiv.org/abs/2407.08055
Autor:
Kawaharazuka, Kento, Tsuzuki, Kei, Onitsuka, Moritaka, Asano, Yuki, Okada, Kei, Kawasaki, Koji, Inaba, Masayuki
The flexible musculoskeletal hand is difficult to modelize, and its model can change constantly due to deterioration over time, irreproducibility of initialization, etc. Also, for object recognition, contact detection, and contact control using the h
Externí odkaz:
http://arxiv.org/abs/2407.08050
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