Component modularized design of musculoskeletal humanoid platform musashi to investigate learning control systems
K Kawaharazuka, S Makino, K Tsuzuki… - 2019 IEEE/RSJ …, 2019 - ieeexplore.ieee.org
To develop Musashi as a musculoskeletal humanoid platform to investigate learning control
systems, we aimed for a body with flexible musculoskeletal structure, redundant sensors …
systems, we aimed for a body with flexible musculoskeletal structure, redundant sensors …
Robust continuous motion strategy against muscle rupture using online learning of redundant intersensory networks for musculoskeletal humanoids
Musculoskeletal humanoids have various biomimetic advantages, of which redundant
muscle arrangement is one of the most important features. This feature enables variable …
muscle arrangement is one of the most important features. This feature enables variable …
Dynamic cloth manipulation considering variable stiffness and material change using deep predictive model with parametric bias
Dynamic manipulation of flexible objects such as fabric, which is difficult to modelize, is one
of the major challenges in robotics. With the development of deep learning, we are …
of the major challenges in robotics. With the development of deep learning, we are …
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… - IEEE Robotics and …, 2020 - ieeexplore.ieee.org
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 …
complex structure is difficult, and many learning-based systems have been developed so far …
Long-time self-body image acquisition and its application to the control of musculoskeletal structures
K Kawaharazuka, K Tsuzuki, S Makino… - IEEE Robotics and …, 2019 - ieeexplore.ieee.org
The tendon-driven musculoskeletal humanoid has many benefits that human beings have,
but the modeling of its complex muscle and bone structures is difficult and conventional …
but the modeling of its complex muscle and bone structures is difficult and conventional …
Design and development for humanoid-vehicle transformer platform with plastic resin structure and distributed redundant sensors
T Makabe, N Hiraoka, S Noda, T Anzai… - … on Robotics and …, 2022 - ieeexplore.ieee.org
The humanoid robot that can transform itself into a form according to its purpose requires
whole-body motions with complex contact state transitions such as recovery from a fall and …
whole-body motions with complex contact state transitions such as recovery from a fall and …
Adaptive body schema learning system considering additional muscles for musculoskeletal humanoids
One of the important advantages of musculoskeletal humanoids is that the muscle
arrangement can be easily changed and the number of muscles can be increased according …
arrangement can be easily changed and the number of muscles can be increased according …
Task-specific self-body controller acquisition by musculoskeletal humanoids: Application to pedal control in autonomous driving
K Kawaharazuka, K Tsuzuki, S Makino… - 2019 IEEE/RSJ …, 2019 - ieeexplore.ieee.org
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 …
modeling of its complex flexible body is difficult. Although we have developed an online …
Biomimetic operational space control for musculoskeletal humanoid optimizing across muscle activation and joint nullspace
We have implemented a force-based operational space controller on a physical
musculoskeletal humanoid robot arm. The controller calculates muscle activations based on …
musculoskeletal humanoid robot arm. The controller calculates muscle activations based on …
Reflex-based motion strategy of musculoskeletal humanoids under environmental contact using muscle relaxation control
K Kawaharazuka, K Tsuzuki, M Onitsuka… - 2019 IEEE-RAS 19th …, 2019 - ieeexplore.ieee.org
The musculoskeletal humanoid can move well under environmental contact thanks to its
body softness. However, there are few studies that actively make use of the environment to …
body softness. However, there are few studies that actively make use of the environment to …