Akihiro Miki — accepted AI-conference papers

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 +1

IROS 2024poster

The complex ways in which humans utilize their bodies in sports and martial arts are remarkable, and human motion analysis is one of the most effective tools for robot body design and control. On the other hand, motion analysis is not easy, and it is difficult to measure complex body motions in deta…

Cited by 2 Source ↗Scholar ↗

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 +1

IROS 2024

Muscles of the human body are composed of tiny actuators made up of myosin and actin filaments. They can exert force in various shapes such as curved or flat, under contact forces and deformations from the environment. On the other hand, muscles in musculoskeletal robots so far have faced challenges

Cited by 1 Source ↗Scholar ↗

2022

Adaptive Body Schema Learning System Considering Additional Muscles for Musculoskeletal Humanoids

Kento Kawaharazuka, Akihiro Miki, Yasunori Toshimitsu, Kei Okada, Masayuki Inaba

RA-L 2022

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 to the situation. In this study, we describe an overall system of muscle addition for musculoskeletal humanoids and the adaptive body

Cited by 6 Source ↗Scholar ↗

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 2022poster

For robots to move in the real world, they must first correctly understand the state of its own body and the tools that it holds. In this research, we propose DIJE, an algorithm to estimate the image Jacobian for every pixel. It is based on an optical flow calculation and a simplified Kalman Filter…

Cited by 1 Source ↗Scholar ↗

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 +5

IROS 2022poster

There is a way to utilize humanoid robots to mimic human behavior by taking advantage of their human-like proportions. In general, motion capture is used; in this case, the posture of the body links can be taken. However, this method does not provide detailed information on the contact state, which…

Cited by 0 Source ↗Scholar ↗

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 +1

IROS 2022poster

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 instability. In this study, to solve these problems…

Cited by 3 Source ↗Scholar ↗

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 +5

IROS 2022poster

Legged robots with high locomotive performance have been extensively studied, and various leg structures have been proposed. Especially, a leg structure that can achieve both continuous and high jumps is advantageous for moving around in a three-dimensional environment. In this study, we propose a p…

Cited by 10 Source ↗Scholar ↗