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Dai Owaki

5 accepted papers

2025

Concerted Control: Modulating Joint Stiffness Using GRF for Gait Generation At Different Speeds

Shunsuke Koseki, Omid Mohseni, Dai Owaki, Mitsuhiro Hayashibe, André Seyfarth, Maziar Ahmad Sharbafi
RA-L 2025

This letter proposes a bio-inspired, simple, and easy-to-implement walking controller, termed <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Concerted Control</i>, which leverages a shared common signal to coordinate movements across multiple joints

Cited by 3Source ↗Scholar ↗
2025

Two-stage Learning Framework Combining Joint-level Reinforcement Learning and Muscle-level Adaptation for Musculoskeletal Locomotion

Laurie Azoulay, Kyo Kutsuzawa, Shunsuke Koseki, Dai Owaki, Mitsuhiro Hayashibe
IROS 2025

Animal musculoskeletal systems are renowned for their ability to dynamically regulate stiffness and achieve energy-efficient motion. Being inspired by the biological control structure, this study presents a hybrid control framework that utilizes two-stage learning processes for body movement plannin

Cited by 0Source ↗Scholar ↗
2023

Learnable Tegotae-based Feedback in CPGs with Sparse Observation Produces Efficient and Adaptive Locomotion

Christopher Herneth, Mitsuhiro Hayashibe, Dai Owaki
ICRA 2023poster

Central Pattern generators (CPG) are a biologically inspired, decentralized control architecture that enables model-free, but yet adaptively stable and computational lightweight locomotion capabilities on complex robots. Nevertheless, no unified design guidelines for closed-loop CPG controllers are…

Cited by 3Source ↗Scholar ↗
2023

Morphological Characteristics That Enable Stable and Efficient Walking in Hexapod Robot Driven by Reflex-based Intra-limb Coordination

Wataru Sato, Jun Nishii, Mitsuhiro Hayashibe, Dai Owaki
ICRA 2023poster

Insects exhibit adaptive walking behavior in an unstructured environment, despite having only an extremely small number of neurons (105 to 106). This suggests that not only the brain nervous system but also properties of the physical body, such as the morphological characteristics, play an essential…

Cited by 2Source ↗Scholar ↗
2022

Prediction of Whole-Body Velocity and Direction From Local Leg Joint Movements in Insect Walking via LSTM Neural Networks

Yuchen Wang, Mitsuhiro Hayashibe, Dai Owaki
RA-L 2022

Extracting motion information from videos is important for quantifying data from behavioral experiments to deepen the understanding of generation mechanisms of animal behavior. For insect walking, inter-leg coordination plays a crucial role, and the thorax-coxa (ThC) and femur-tibia (FTi) joint moti

Cited by 6Source ↗Scholar ↗