Zobrazeno 1 - 10
of 82
pro vyhledávání: '"Kawaharazuka, Kento"'
Imitation learning is one of the methods for reproducing human demonstration adaptively in robots. So far, it has been found that generalization ability of the imitation learning enables the robots to perform tasks adaptably in untrained environments
Externí odkaz:
http://arxiv.org/abs/2407.08057
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
Various robotic tool manipulation methods have been developed so far. However, to our knowledge, none of them have taken into account the fact that the grasping state such as grasping position and tool angle can change at any time during the tool man
Externí odkaz:
http://arxiv.org/abs/2407.08052
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
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
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