Human mimetic musculoskeletal humanoid Kengoro toward real world physically interactive actions. - Yuki Asano 002; Toyotaka Kozuki; Soichi Ookubo; Masaya Kawamura; Shinsuke Nakashima; Takeshi Katayama; Iori Yanokura; Toshinori Hirose; Kento Kawaharazuka; Shogo Makino; Youhei Kakiuchi; Kei Okada; et al. (Humanoids, 2016)

Human mimetic forearm design with radioulnar joint using miniature bone-muscle modules and its applications. - Kento Kawaharazuka; Shogo Makino; Masaya Kawamura; Yuki Asano 002; Yohei Kakiuchi; Kei Okada; Masayuki Inaba (IROS, 2017)

High-power, flexible, robust hand: Development of musculoskeletal hand using machined springs and realization of self-weight supporting motion with humanoid. - Shogo Makino; Kento Kawaharazuka; Masaya Kawamura; Yuki Asano 002; Kei Okada; Masayuki Inaba (IROS, 2017)

Antagonist Inhibition Control in Redundant Tendon-Driven Structures Based on Human Reciprocal Innervation for Wide Range Limb Motion of Musculoskeletal Humanoids. - Kento Kawaharazuka; Masaya Kawamura; Shogo Makino; Yuki Asano 002; Kei Okada; Masayuki Inaba (IEEE Robotics Autom. Lett., 2017)

Development and Functional Evaluation of a Deformable Membrane Capsule for an Open Ball Glenohumeral Joint. - Ayaka Fujii; Shinsuke Nakashima; Masaya Kawamura; Kento Kawaharazuka; Shogo Makino; Yuki Asano 002; Kei Okada; Masayuki Inaba (BioRob, 2018)

A Method of Joint Angle Estimation Using Only Relative Changes in Muscle Lengths for Tendon-Driven Humanoids with Complex Musculoskeletal Structures. - Kento Kawaharazuka; Shogo Makino; Masaya Kawamura; Yuki Asano 002; Kei Okada; Masayuki Inaba (Humanoids, 2018)

TWIMP: Two-Wheel Inverted Musculoskeletal Pendulum as a Learning Control Platform in the Real World with Environmental Physical Contact. - Kento Kawaharazuka; Tasuku Makabe; Shogo Makino; Kei Tsuzuki; Yuya Nagamatsu; Yuki Asano 002; Takuma Shirai; Fumihito Sugai; Kei Okada; Koji Kawasaki; Masayuki Inaba (Humanoids, 2018)

Development of Movable Binocular High-Resolution Eye-Camera Unit for Humanoid and the Evaluation of Looking Around Fixation Control and Object Recognition. - Tasuku Makabe; Kento Kawaharazuka; Kei Tsuzuki; Kentaro Wada; Shogo Makino; Masaya Kawamura; Ayaka Fujii; Moritaka Onitsuka; Yuki Asano 002; Kei Okada; Koji Kawasaki; Masayuki Inaba (Humanoids, 2018)

Online Self-body Image Acquisition Considering Changes in Muscle Routes Caused by Softness of Body Tissue for Tendon-driven Musculoskeletal Humanoids. - Kento Kawaharazuka; Shogo Makino; Masaya Kawamura; Ayaka Fujii; Yuki Asano 002; Kei Okada; Masayuki Inaba (IROS, 2018)

Five-Fingered Hand with Wide Range of Thumb Using Combination of Machined Springs and Variable Stiffness Joints. - Shogo Makino; Kento Kawaharazuka; Ayaka Fujii; Masaya Kawamura; Tasuku Makabe; Moritaka Onitsuka; Yuki Asano 002; Kei Okada; Koji Kawasaki; Masayuki Inaba (IROS, 2018)

Online Learning of Joint-Muscle Mapping Using Vision in Tendon-Driven Musculoskeletal Humanoids. - Kento Kawaharazuka; Shogo Makino; Masaya Kawamura; Yuki Asano 002; Kei Okada; Masayuki Inaba (IEEE Robotics Autom. Lett., 2018)

Ankle-hip-stepping stabilizer on tendon-driven humanoid Kengoro by integration of muscle-joint-work space controllers for knee-stretched humanoid balance. - Yuki Asano 002; Shinsuke Nakashima; Iori Yanokura; Moritaka Onitsuka; Kento Kawaharazuka; Kei Tsuzuki; Yuya Koga; Yusuke Omura; Kei Okada; Masayuki Inaba (Humanoids, 2019)

Reflex-Based Motion Strategy of Musculoskeletal Humanoids under Environmental Contact Using Muscle Relaxation Control. - Kento Kawaharazuka; Kei Tsuzuki; Moritaka Onitsuka; Yuya Koga; Yusuke Omura; Yuki Asano 002; Kei Okada; Koji Kawasaki; Masayuki Inaba (Humanoids, 2019)

Modification of muscle antagonistic relations and hand trajectory on the dynamic motion of Musculoskeletal Humanoid. - Yuya Koga; Kento Kawaharazuka; Moritaka Onitsuka; Tasuku Makabe; Kei Tsuzuki; Yusuke Omura; Yuki Asano 002; Kei Okada; Masayuki Inaba (Humanoids, 2019)

Dynamic Manipulation of Flexible Objects with Torque Sequence Using a Deep Neural Network. - Kento Kawaharazuka; Toru Ogawa; Juntaro Tamura; Cota Nabeshima (ICRA, 2019)

Component Modularized Design of Musculoskeletal Humanoid Platform Musashi to Investigate Learning Control Systems. - Kento Kawaharazuka; Koji Kawasaki; Masayuki Inaba; Shogo Makino; Kei Tsuzuki; Moritaka Onitsuka; Yuya Nagamatsu; Koki Shinjo; Tasuku Makabe; Yuki Asano 002; Kei Okada (IROS, 2019)

Dynamic Task Control Method of a Flexible Manipulator Using a Deep Recurrent Neural Network. - Kento Kawaharazuka; Toru Ogawa; Cota Nabeshima (IROS, 2019)

Task-specific Self-body Controller Acquisition by Musculoskeletal Humanoids: Application to Pedal Control in Autonomous Driving. - Kento Kawaharazuka; Kei Tsuzuki; Shogo Makino; Moritaka Onitsuka; Koki Shinjo; Yuki Asano 002; Kei Okada; Koji Kawasaki; Masayuki Inaba (IROS, 2019)

Development of Joint Module with Two-speed Gear Transmission and Joint Lock Mechanism during Driving for Task Adaptable Robot. - Tasuku Makabe; Takuma Shirai; Yuya Nagamatsu; Kento Kawaharazuka; Fumihito Sugai; Kei Okada; Masayuki Inaba (IROS, 2019)

An Approach of Facilitated Investigation of Active Self-healing Tension Transmission System Oriented for Legged Robots. - Shinsuke Nakashima; Takuma Shirai; Kento Kawaharazuka; Yuki Asano 002; Yohei Kakiuchi; Kei Okada; Masayuki Inaba (IROS, 2019)

Foot with a Core-shell Structural Six-axis Force Sensor for Pedal Depressing and Recovering from Foot Slipping during Pedal Pushing Toward Autonomous Driving by Humanoids. - Koki Shinjo; Masayuki Inaba; Kento Kawaharazuka; Yuki Asano 002; Shinsuke Nakashima; Shogo Makino; Moritaka Onitsuka; Kei Tsuzuki; Kei Okada; Koji Kawasaki (IROS, 2019)

Long-Time Self-Body Image Acquisition and Its Application to the Control of Musculoskeletal Structures. - Kento Kawaharazuka; Kei Tsuzuki; Shogo Makino; Moritaka Onitsuka; Yuki Asano 002; Kei Okada; Koji Kawasaki; Masayuki Inaba (IEEE Robotics Autom. Lett., 2019)

Stable Tool-Use with Flexible Musculoskeletal Hands by Learning the Predictive Model of Sensor State Transition. - Kento Kawaharazuka; Kei Tsuzuki; Moritaka Onitsuka; Yuki Asano 002; Kei Okada; Koji Kawasaki; Masayuki Inaba (ICRA, 2020)

Stable Control in Climbing and Descending Flight under Upper Walls using Ceiling Effect Model based on Aerodynamics. - Takuzumi Nishio; Moju Zhao; Fan Shi 002; Tomoki Anzai; Kento Kawaharazuka; Kei Okada; Masayuki Inaba (ICRA, 2020)

Exceeding the Maximum Speed Limit of the Joint Angle for the Redundant Tendon-driven Structures of Musculoskeletal Humanoids. - Kento Kawaharazuka; Yuya Koga; Kei Tsuzuki; Moritaka Onitsuka; Yuki Asano 002; Kei Okada; Koji Kawasaki; Masayuki Inaba (IROS, 2020)

Applications of Stretch Reflex for the Upper Limb of Musculoskeletal Humanoids: Protective Behavior, Postural Stability, and Active Induction. - Kento Kawaharazuka; Yuya Koga; Kei Tsuzuki; Moritaka Onitsuka; Yuki Asano 002; Kei Okada; Koji Kawasaki; Masayuki Inaba (IROS, 2020)

Tool Shape Optimization through Backpropagation of Neural Network. - Kento Kawaharazuka; Toru Ogawa; Cota Nabeshima (IROS, 2020)

Biomimetic Control Scheme for Musculoskeletal Humanoids Based on Motor Directional Tuning in the Brain. - Yasunori Toshimitsu; Kento Kawaharazuka; Kei Tsuzuki; Moritaka Onitsuka; Manabu Nishiura; Yuya Koga; Yusuke Omura; Motoki Tomita; Yuki Asano 002; Kei Okada; Koji Kawasaki; Masayuki Inaba (IROS, 2020)

Human Mimetic Forearm and Hand Design with a Radioulnar Joint and Flexible Machined Spring Finger for Human Skillful Motions. - Kento Kawaharazuka; Shogo Makino; Masaya Kawamura; Shinsuke Nakashima; Yuki Asano 002; Kei Okada; Masayuki Inaba (J. Robotics Mechatronics, 2020)

Estimation and Control of Motor Core Temperature With Online Learning of Thermal Model Parameters: Application to Musculoskeletal Humanoids. - Kento Kawaharazuka; Naoki Hiraoka; Kei Tsuzuki; Moritaka Onitsuka; Yuki Asano 002; Kei Okada; Koji Kawasaki; Masayuki Inaba (IEEE Robotics Autom. Lett., 2020)

Musculoskeletal AutoEncoder: A Unified Online Acquisition Method of Intersensory Networks for State Estimation, Control, and Simulation of Musculoskeletal Humanoids. - Kento Kawaharazuka; Kei Tsuzuki; Moritaka Onitsuka; Yuki Asano 002; Kei Okada; Koji Kawasaki; Masayuki Inaba (IEEE Robotics Autom. Lett., 2020)

Object Recognition, Dynamic Contact Simulation, Detection, and Control of the Flexible Musculoskeletal Hand Using a Recurrent Neural Network With Parametric Bias. - Kento Kawaharazuka; Kei Tsuzuki; Moritaka Onitsuka; Yuki Asano 002; Kei Okada; Koji Kawasaki; Masayuki Inaba (IEEE Robotics Autom. Lett., 2020)

Toward Autonomous Driving by Musculoskeletal Humanoids: A Study of Developed Hardware and Learning-Based Software. - Kento Kawaharazuka; Kei Tsuzuki; Yuya Koga; Yusuke Omura; Tasuku Makabe; Koki Shinjo; Moritaka Onitsuka; Yuya Nagamatsu; Yuki Asano 002; Kei Okada; Koji Kawasaki; Masayuki Inaba (IEEE Robotics Autom. Mag., 2020)

Online Learning of Danger Avoidance for Complex Structures of Musculoskeletal Humanoids and Its Applications. - Kento Kawaharazuka; Naoki Hiraoka; Yuya Koga; Manabu Nishiura; Yusuke Omura; Yuki Asano 002; Kei Okada; Koji Kawasaki; Masayuki Inaba (HUMANOIDS, 2021)

Motion Modification Method of Musculoskeletal Humanoids by Human Teaching Using Muscle-Based Compensation Control. - Kento Kawaharazuka; Yuya Koga; Manabu Nishiura; Yusuke Omura; Yuki Asano 002; Kei Okada; Koji Kawasaki; Masayuki Inaba (HUMANOIDS, 2021)

Development of Musculoskeletal Legs with Planar Interskeletal Structures to Realize Human Comparable Moving Function. - Moritaka Onitsuka; Manabu Nishiura; Kento Kawaharazuka; Kei Tsuzuki; Yasunori Toshimitsu; Yusuke Omura; Yuki Asano 002; Kei Okada; Koji Kawasaki; Masayuki Inaba (HUMANOIDS, 2021)

Restoring Force Design of Active Self-healing Tension Transmission System and Application to Tendon-driven Legged Robot. - Shinsuke Nakashima; Kento Kawaharazuka; Manabu Nishiura; Yuki Asano 002; Yohei Kakiuchi; Kei Okada; Koji Kawasaki; Masayuki Inaba (ICRA, 2021)

Biomimetic Operational Space Control for Musculoskeletal Humanoid Optimizing Across Muscle Activation and Joint Nullspace. - Yasunori Toshimitsu; Kento Kawaharazuka; Manabu Nishiura; Yuya Koga; Yusuke Omura; Yuki Asano 002; Kei Okada; Koji Kawasaki; Masayuki Inaba (ICRA, 2021)

Environmentally Adaptive Control Including Variance Minimization Using Stochastic Predictive Network with Parametric Bias: Application to Mobile Robots. - Kento Kawaharazuka; Koki Shinjo; Yoichiro Kawamura; Kei Okada; Masayuki Inaba (IROS, 2021)

Design Optimization of Musculoskeletal Humanoids with Maximization of Redundancy to Compensate for Muscle Rupture. - Kento Kawaharazuka; Yasunori Toshimitsu; Manabu Nishiura; Yuya Koga; Yusuke Omura; Yuki Asano 002; Kei Okada; Koji Kawasaki; Masayuki Inaba (IROS, 2021)

Stability Recognition with Active Vibration for Bracing Behaviors and Motion Extensions Using Environment in Musculoskeletal Humanoids. - Kento Kawaharazuka; Manabu Nishiura; Shinsuke Nakashima; Yasunori Toshimitsu; Yusuke Omura; Yuya Koga; Yuki Asano 002; Kei Okada; Koji Kawasaki; Masayuki Inaba (RoboSoft, 2021)

Imitation Learning With Additional Constraints on Motion Style Using Parametric Bias. - Kento Kawaharazuka; Yoichiro Kawamura; Kei Okada; Masayuki Inaba (IEEE Robotics Autom. Lett., 2021)

Automatic Grouping of Redundant Sensors and Actuators Using Functional and Spatial Connections: Application to Muscle Grouping for Musculoskeletal Humanoids. - Kento Kawaharazuka; Manabu Nishiura; Yuya Koga; Yusuke Omura; Yasunori Toshimitsu; Yuki Asano 002; Kei Okada; Koji Kawasaki; Masayuki Inaba (IEEE Robotics Autom. Lett., 2021)

Adaptive Robotic Tool-Tip Control Learning Considering Online Changes in Grasping State. - Kento Kawaharazuka; Kei Okada; Masayuki Inaba (IEEE Robotics Autom. Lett., 2021)

Self-Body Image Acquisition and Posture Generation With Redundancy Using Musculoskeletal Humanoid Shoulder Complex for Object Manipulation. - Yuya Koga; Kento Kawaharazuka; Yasunori Toshimitsu; Manabu Nishiura; Yusuke Omura; Yuki Asano 002; Kei Okada; Koji Kawasaki; Masayuki Inaba (IEEE Robotics Autom. Lett., 2021)

Learning-Based Wiping Behavior of Low-Rigidity Robots Considering Various Surface Materials and Task Definitions. - Kento Kawaharazuka; Naoaki Kanazawa; Kei Okada; Masayuki Inaba (Humanoids, 2022)

Hardware Design and Learning-Based Software Architecture of Musculoskeletal Wheeled Robot Musashi-W for Real-World Applications. - Kento Kawaharazuka; Akihiro Miki; Masahiro Bando; Temma Suzuki; Yoshimoto Ribayashi; Yasunori Toshimitsu; Yuya Nagamatsu; Kei Okada; Masayuki Inaba (Humanoids, 2022)

Continuous Jumping of a Parallel Wire-Driven Monopedal Robot RAMIEL Using Reinforcement Learning. - Kento Kawaharazuka; Temma Suzuki; Kei Okada; Masayuki Inaba (Humanoids, 2022)

Design of a Five-Fingered Hand with Full-Fingered Tactile Sensors Using Conductive Filaments and Its Application to Bending after Insertion Motion. - Kazuhiro Miyama; Shun Hasegawa; Kento Kawaharazuka; Naoya Yamaguchi; Kei Okada; Masayuki Inaba (Humanoids, 2022)

Design of Robot Foot with Outer Edge Measurement Structure and Chair Rotation Motion by Friction Control. - Yoshimoto Ribayashi; Kento Kawaharazuka; Yasunori Toshimitsu; Daiki Kusuyama; Akihiro Miki; Koki Shinjo; Masahiro Bando; Temma Suzuki; Yuta Kojio; Kei Okada; Masayuki Inaba (Humanoids, 2022)

Grasp Pose Selection Under Region Constraints for Dirty Dish Grasps Based on Inference of Grasp Success Probability through Self-Supervised Learning. - Shumpei Wakabayashi; Shingo Kitagawa; Kento Kawaharazuka; Takayuki Murooka; Kei Okada; Masayuki Inaba (ICRA, 2022)

Online Learning Feedback Control Considering Hysteresis for Musculoskeletal Structures. - Kento Kawaharazuka; Kei Okada; Masayuki Inaba (IROS, 2022)

Realization of Seated Walk by a Musculoskeletal Humanoid with Buttock-Contact Sensors From Human Constrained Teaching. - Kento Kawaharazuka; Kei Okada; Masayuki Inaba (IROS, 2022)

Learning of Balance Controller Considering Changes in Body State for Musculoskeletal Humanoids. - Kento Kawaharazuka; Yoshimoto Ribayashi; Akihiro Miki; Yasunori Toshimitsu; Temma Suzuki; Kei Okada; Masayuki Inaba (IROS, 2022)

Imitation Behavior of the Outer Edge of the Foot by Humanoids Using a Simplified Contact State Representation. - Yoshimoto Ribayashi; Kento Kawaharazuka; Yasunori Toshimitsu; Daiki Kusuyama; Akihiro Miki; Koki Shinjo; Masahiro Bando; Temma Suzuki; Yuta Kojio; Kei Okada; Masayuki Inaba (IROS, 2022)

RAMIEL: A Parallel-Wire Driven Monopedal Robot for High and Continuous Jumping. - Temma Suzuki; Yasunori Toshimitsu; Yuya Nagamatsu; Kento Kawaharazuka; Akihiro Miki; Yoshimoto Ribayashi; Masahiro Bando; Kunio Kojima; Yohei Kakiuchi; Kei Okada; Masayuki Inaba (IROS, 2022)

DIJE: Dense Image Jacobian Estimation for Robust Robotic Self-Recognition and Visual Servoing. - Yasunori Toshimitsu; Kento Kawaharazuka; Akihiro Miki; Kei Okada; Masayuki Inaba (IROS, 2022)

Dynamic Cloth Manipulation Considering Variable Stiffness and Material Change Using Deep Predictive Model With Parametric Bias. - Kento Kawaharazuka; Akihiro Miki; Masahiro Bando; Kei Okada; Masayuki Inaba (Frontiers Neurorobotics, 2022)

Self-Supervised Learning of Visual Servoing for Low-Rigidity Robots Considering Temporal Body Changes. - Kento Kawaharazuka; Naoaki Kanazawa; Kei Okada; Masayuki Inaba (IEEE Robotics Autom. Lett., 2022)

Adaptive Body Schema Learning System Considering Additional Muscles for Musculoskeletal Humanoids. - Kento Kawaharazuka; Akihiro Miki; Yasunori Toshimitsu; Kei Okada; Masayuki Inaba (IEEE Robotics Autom. Lett., 2022)

Robust continuous motion strategy against muscle rupture using online learning of redundant intersensory networks for musculoskeletal humanoids. - Kento Kawaharazuka; Manabu Nishiura; Yasunori Toshimitsu; Yusuke Omura; Yuya Koga; Yuki Asano 002; Kei Okada; Koji Kawasaki; Masayuki Inaba (Robotics Auton. Syst., 2022)

Daily Assistive View Control Learning of Low-Cost Low-Rigidity Robot via Large-Scale Vision-Language Model. - Kento Kawaharazuka; Naoaki Kanazawa; Yoshiki Obinata; Kei Okada; Masayuki Inaba (Humanoids, 2023)

Robotic Applications of Pre-Trained Vision-Language Models to Various Recognition Behaviors. - Kento Kawaharazuka; Yoshiki Obinata; Naoaki Kanazawa; Kei Okada; Masayuki Inaba (Humanoids, 2023)

Development of a Wire-Wound Muscle-Tendon Complex Drive and Its Application to a Two-Dimensional Robot Configuration. - Yoshimoto Ribayashi; Kazuhiro Miyama; Akihiro Miki; Kento Kawaharazuka; Kei Okada; Koji Kawasaki; Masayuki Inaba (Humanoids, 2023)

Optimization of Muscle Arrangement Extraction from Human Waist Structure for Biomimetic Humanoid Implementation. - Shunnosuke Yoshimura; Sota Yuzaki; Kento Kawaharazuka; Kei Okada; Masayuki Inaba (Humanoids, 2023)

Fusion of Body and Environment with Movable Carabiners for Wire-Driven Robots Toward Expansion of Physical Capabilities. - Sota Yuzaki; Akihiro Miki; Masahiro Bando; Shunnosuke Yoshimura; Temma Suzuki; Kento Kawaharazuka; Kei Okada; Masayuki Inaba (Humanoids, 2023)

VQA-based Robotic State Recognition Optimized with Genetic Algorithm. - Kento Kawaharazuka; Yoshiki Obinata; Naoaki Kanazawa; Kei Okada; Masayuki Inaba (ICRA, 2023)

Daily Assistive Modular Robot Design Based on Multi-Objective Black-Box Optimization. - Kento Kawaharazuka; Tasuku Makabe; Kei Okada; Masayuki Inaba (IROS, 2023)

Development of a Whole-Body Work Imitation Learning System by a Biped and Bi-Armed Humanoid. - Yutaro Matsuura; Kento Kawaharazuka; Naoki Hiraoka; Kunio Kojima; Kei Okada; Masayuki Inaba (IROS, 2023)

Development of a Five-Fingerd Biomimetic Soft Robotic Hand by 3D Printing the Skin and Skeleton as One Unit. - Kazuhiro Miyama; Kento Kawaharazuka; Kei Okada; Masayuki Inaba (IROS, 2023)

Semantic Scene Difference Detection in Daily Life Patroling by Mobile Robots Using Pre-Trained Large-Scale Vision-Language Model. - Yoshiki Obinata; Kento Kawaharazuka; Naoaki Kanazawa; Naoya Yamaguchi; Naoto Tsukamoto; Iori Yanokura; Shingo Kitagawa; Koki Shinjo; Kei Okada; Masayuki Inaba (IROS, 2023)

Design Method of a Kangaroo Robot with High Power Legs and an Articulated Soft Tail. - Shunnosuke Yoshimura; Temma Suzuki; Masahiro Bando; Sota Yuzaki; Kento Kawaharazuka; Kei Okada; Masayuki Inaba (IROS, 2023)

A method for Selecting Scenes and Emotion-based Descriptions for a Robot's Diary. - Aiko Ichikura; Kento Kawaharazuka; Yoshiki Obinata; Kei Okada; Masayuki Inaba (RO-MAN, 2023)

Online Estimation of Self-Body Deflection With Various Sensor Data Based on Directional Statistics. - Hiroya Sato; Kento Kawaharazuka; Tasuku Makabe; Kei Okada; Masayuki Inaba (SII, 2023)

Foundation Model based Open Vocabulary Task Planning and Executive System for General Purpose Service Robots. - Yoshiki Obinata; Naoaki Kanazawa; Kento Kawaharazuka; Iori Yanokura; Soonhyo Kim; Kei Okada; Masayuki Inaba (CoRR, 2023)

Recognition of Heat-Induced Food State Changes by Time-Series Use of Vision-Language Model for Cooking Robot. - Naoaki Kanazawa; Kento Kawaharazuka; Yoshiki Obinata; Kei Okada; Masayuki Inaba (CoRR, 2023)

Automatic Diary Generation System including Information on Joint Experiences between Humans and Robots. - Aiko Ichikura; Kento Kawaharazuka; Yoshiki Obinata; Koki Shinjo; Kei Okada; Masayuki Inaba (CoRR, 2023)

Binary State Recognition by Robots using Visual Question Answering of Pre-Trained Vision-Language Model. - Kento Kawaharazuka; Yoshiki Obinata; Naoaki Kanazawa; Kei Okada; Masayuki Inaba (CoRR, 2023)

CubiXMusashi: Fusion of Wire-Driven CubiX and Musculoskeletal Humanoid Musashi toward Unlimited Performance. - Shintaro Inoue; Kento Kawaharazuka; Temma Suzuki; Sota Yuzaki; Yoshimoto Ribayashi; Yuta Sahara; Kei Okada (Humanoids, 2024)

Integrative Wrapping System for a Dual-Arm Humanoid Robot. - Yukina Iwata; Shun Hasegawa; Kento Kawaharazuka; Kei Okada; Masayuki Inaba (Humanoids, 2024)

MEVIUS: A Quadruped Robot Easily Constructed through E-Commerce with Sheet Metal Welding and Machining. - Kento Kawaharazuka; Shintaro Inoue; Temma Suzuki; Sota Yuzaki; Shogo Sawaguchi; Kei Okada; Masayuki Inaba (Humanoids, 2024)

Robotic State Recognition with Image-to-Text Retrieval Task of Pre-Trained Vision-Language Model and Black-Box Optimization. - Kento Kawaharazuka; Yoshiki Obinata; Naoaki Kanazawa; Kei Okada; Masayuki Inaba (Humanoids, 2024)

Remote Life Support Robot Interface System for Global Task Planning and Local Action Expansion Using Foundation Models. - Yoshiki Obinata; Haoyu Jia; Kento Kawaharazuka; Naoaki Kanazawa; Kei Okada (Humanoids, 2024)

Fundamental Three-Dimensional Configuration of Wire-Wound Muscle-Tendon Complex Drive. - Yoshimoto Ribayashi; Yuta Sahara; Shogo Sawaguchi; Kazuhiro Miyama; Akihiro Miki; Kento Kawaharazuka; Kei Okada; Masayuki Inaba (Humanoids, 2024)

Vlimb: A Wire-Driven Wearable Robot for Bodily Extension, Balancing Powerfulness and Reachability. - Shogo Sawaguchi; Temma Suzuki; Akihiro Miki; Kento Kawaharazuka; Sota Yuzaki; Shunnosuke Yoshimura; Yoshimoto Ribayashi; Kei Okada; Masayuki Inaba (Humanoids, 2024)

Adaptive Whole-body Robotic Tool-use Learning on Low-rigidity Plastic-made Humanoids Using Vision and Tactile Sensors. - Kento Kawaharazuka; Kei Okada; Masayuki Inaba (ICRA, 2024)

Robotic Constrained Imitation Learning for the Peg Transfer Task in Fundamentals of Laparoscopic Surgery. - Kento Kawaharazuka; Kei Okada; Masayuki Inaba (ICRA, 2024)

Open X-Embodiment: Robotic Learning Datasets and RT-X Models : Open X-Embodiment Collaboration. - Abby O'Neill; Abdul Rehman; Abhiram Maddukuri; Abhishek Gupta 004; Abhishek Padalkar; Abraham Lee; Acorn Pooley; Agrim Gupta; Ajay Mandlekar; Ajinkya Jain; Albert Tung; Alex Bewley; et al. (ICRA, 2024)

Vision-Language Interpreter for Robot Task Planning. - Keisuke Shirai; Cristian C. Beltran-Hernandez; Masashi Hamaya; Atsushi Hashimoto 001; Shohei Tanaka; Kento Kawaharazuka; Kazutoshi Tanaka; Yoshitaka Ushiku; Shinsuke Mori (ICRA, 2024)

HumanMimic: Learning Natural Locomotion and Transitions for Humanoid Robot via Wasserstein Adversarial Imitation. - Annan Tang; Takuma Hiraoka; Naoki Hiraoka; Fan Shi 002; Kento Kawaharazuka; Kunio Kojima; Kei Okada; Masayuki Inaba (ICRA, 2024)

CubiX: Portable Wire-Driven Parallel Robot Connecting to and Utilizing the Environment. - Shintaro Inoue; Kento Kawaharazuka; Temma Suzuki; Sota Yuzaki; Kei Okada; Masayuki Inaba (IROS, 2024)

Robot Design Optimization with Rotational and Prismatic Joints using Black-Box Multi-Objective Optimization. - Kento Kawaharazuka; Kei Okada; Masayuki Inaba (IROS, 2024)

Construction of Musculoskeletal Simulation for Shoulder Complex with Ligaments and Its Validation via Model Predictive Control. - Yuta Sahara; Akihiro Miki; Yoshimoto Ribayashi; Shunnosuke Yoshimura; Kento Kawaharazuka; Kei Okada; Masayuki Inaba (IROS, 2024)

Patterned Structure Muscle : Arbitrary Shaped Wire-driven Artificial Muscle Utilizing Anisotropic Flexible Structure for Musculoskeletal Robots. - Shunnosuke Yoshimura; Akihiro Miki; Kazuhiro Miyama; Yuta Sahara; Kento Kawaharazuka; Kei Okada; Masayuki Inaba (IROS, 2024)

Body Design and Gait Generation of Chair-Type Asymmetrical Tripedal Low-rigidity Robot. - Shintaro Inoue; Kento Kawaharazuka; Kei Okada; Masayuki Inaba (RoboSoft, 2024)

Designing Fluid-Exuding Cartilage for Biomimetic Robots Mimicking Human Joint Lubrication Function. - Akihiro Miki; Yuta Sahara; Kazuhiro Miyama; Shunnosuke Yoshimura; Yoshimoto Ribayashi; Shun Hasegawa; Kento Kawaharazuka; Kei Okada; Masayuki Inaba (RoboSoft, 2024)

Human-mimetic binaural ear design and sound source direction estimation for task realization of musculoskeletal humanoids. - Yusuke Omura; Kento Kawaharazuka; Yuya Nagamatsu; Yuya Koga; Manabu Nishiura; Yasunori Toshimitsu; Yuki Asano 002; Kei Okada; Koji Kawasaki; Masayuki Inaba (CoRR, 2024)

Robust Continuous Motion Strategy Against Muscle Rupture using Online Learning of Redundant Intersensory Networks for Musculoskeletal Humanoids. - Kento Kawaharazuka; Manabu Nishiura; Yasunori Toshimitsu; Yusuke Omura; Yuya Koga; Yuki Asano 002; Koji Kawasaki; Masayuki Inaba (CoRR, 2024)

SAQIEL: Ultra-Light and Safe Manipulator With Passive 3D Wire Alignment Mechanism. - Temma Suzuki; Masahiro Bando; Kento Kawaharazuka; Kei Okada; Masayuki Inaba (IEEE Robotics Autom. Lett., 2024)

Design Optimization of Wire Arrangement With Variable Relay Points in Numerical Simulation for Tendon-Driven Robots. - Kento Kawaharazuka; Shunnosuke Yoshimura; Temma Suzuki; Kei Okada; Masayuki Inaba (IEEE Robotics Autom. Lett., 2024)

Continuous Object State Recognition for Cooking Robots Using Pre-Trained Vision-Language Models and Black-Box Optimization. - Kento Kawaharazuka; Naoaki Kanazawa; Yoshiki Obinata; Kei Okada; Masayuki Inaba (IEEE Robotics Autom. Lett., 2024)

Behavioral learning of dish rinsing and scrubbing based on interruptive direct teaching considering assistance rate. - Shumpei Wakabayashi; Kento Kawaharazuka; Kei Okada; Masayuki Inaba (Adv. Robotics, 2024)

Real-world cooking robot system from recipes based on food state recognition using foundation models and PDDL. - Naoaki Kanazawa; Kento Kawaharazuka; Yoshiki Obinata; Kei Okada; Masayuki Inaba (Adv. Robotics, 2024)

Real-world robot applications of foundation models: a review. - Kento Kawaharazuka; Tatsuya Matsushima; Andrew Gambardella; Jiaxian Guo; Chris Paxton 001; Andy Zeng 001 (Adv. Robotics, 2024)

Special issue on real-world robot applications of the foundation models. - Kento Kawaharazuka; Tatsuya Matsushima; Shuhei Kurita; Chris Paxton 001; Andy Zeng 001; Tetsuya Ogata; Tadahiro Taniguchi (Adv. Robotics, 2024)

Robotic environmental state recognition with pre-trained vision-language models and black-box optimization. - Kento Kawaharazuka; Yoshiki Obinata; Naoaki Kanazawa; Kei Okada; Masayuki Inaba (Adv. Robotics, 2024)

Reflex-based open-vocabulary navigation without prior knowledge using omnidirectional camera and multiple vision-language models. - Kento Kawaharazuka; Yoshiki Obinata; Naoaki Kanazawa; Naoto Tsukamoto; Kei Okada; Masayuki Inaba (Adv. Robotics, 2024)

Deep Predictive Model Learning With Parametric Bias: Handling Modeling Difficulties and Temporal Model Changes. - Kento Kawaharazuka; Kei Okada; Masayuki Inaba (IEEE Robotics Autom. Mag., 2024)

Front Hair Styling Robot System Using Path Planning for Root-Centric Strand Adjustment. - Soonhyo Kim; Naoaki Kanazawa; Shun Hasegawa; Kento Kawaharazuka; Kei Okada (SII, 2025)

Learning Quiet Walking for a Small Home Robot. - Ryo Watanabe; Takahiro Miki; Fan Shi 002; Yuki Kadokawa; Filip Bjelonic; Kento Kawaharazuka; Andrei Cramariuc; Marco Hutter 001 (CoRR, 2025)

Situation classification of living environment by daily life support robot using pre-trained large-scale vision-language model. - Yoshiki Obinata; Kento Kawaharazuka; Naoaki Kanazawa; Naoya Yamaguchi; Naoto Tsukamoto; Iori Yanokura; Shingo Kitagawa; Kei Okada; Masayuki Inaba (Adv. Robotics, 2025)

GenAerialNav: obstacle avoidance in real flight for generalized multirotors by reinforcement learning with variable Acc-Properties in dynamics. - Haruki Kozuka; Moju Zhao; Takuzumi Nishio; Iori Yanokura; Kento Kawaharazuka; Junichiro Sugihara; Kazuki Sugihara; Kei Okada; Masayuki Inaba (Adv. Robotics, 2025)

Dexterous grasp data augmentation based on grasp synthesis with fingertip workspace cloud and contact-aware sampling. - Liqi Wu; Haoyu Jia; Kento Kawaharazuka; Hirokazu Ishida; Kei Okada (Adv. Robotics, 2025)

GeMuCo: Generalized Multisensory Correlational Model for Body Schema Learning. - Kento Kawaharazuka; Kei Okada; Masayuki Inaba (IEEE Robotics Autom. Mag., 2025)

Design Optimization of Three-Dimensional Wire Arrangement Considering Wire Crossings for Tendon-driven Robots. - Kento Kawaharazuka; Shintaro Inoue; Yuta Sahara; Keita Yoneda; Temma Suzuki; Kei Okada (CoRR, 2025)

KLEIYN : A Quadruped Robot with an Active Waist for Both Locomotion and Wall Climbing. - Keita Yoneda; Kento Kawaharazuka; Temma Suzuki; Takahiro Hattori; Kei Okada (CoRR, 2025)

PIMBS: Efficient Body Schema Learning for Musculoskeletal Humanoids With Physics-Informed Neural Networks. - Kento Kawaharazuka; Takahiro Hattori; Keita Yoneda; Kei Okada (IEEE Robotics Autom. Lett., 2025)

An RGB-D Camera-Based Multi-Small Flying Anchors Control for Wire-Driven Robots Connecting to the Environment. - Shintaro Inoue; Kento Kawaharazuka; Keita Yoneda; Sota Yuzaki; Yuta Sahara; Temma Suzuki; Kei Okada (CoRR, 2025)

Mockingbird: How does LLM perform in general machine learning tasks? - Haoyu Jia; Yoshiki Obinata; Kento Kawaharazuka; Kei Okada (CoRR, 2025)