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Koki Shinjo

6 accepted papers

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 +4
IROS 2023poster

It is important for daily life support robots to detect changes in their environment and perform tasks. In the field of anomaly detection in computer vision, probabilistic and deep learning methods have been used to calculate the image distance. These methods calculate distances by focusing on image…

Cited by 8Source ↗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 0Source ↗Scholar ↗
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 2021poster

In this study, we propose a predictive model composed of a recurrent neural network including parametric bias and stochastic elements, and an environmentally adaptive robot control method including variance minimization using the model. Robots which have flexible bodies or whose states can only be p…

Cited by 5Source ↗Scholar ↗
2019

Component Modularized Design of Musculoskeletal Humanoid Platform Musashi to Investigate Learning Control Systems

Kento Kawaharazuka, Shogo Makino, Kei Tsuzuki, Moritaka Onitsuka, Yuya Nagamatsu, Koki Shinjo +5
IROS 2019poster

To develop Musashi as a musculoskeletal humanoid platform to investigate learning control systems, we aimed for a body with flexible musculoskeletal structure, redundant sensors, and easily reconfigurable structure. For this purpose, we develop joint modules that can directly measure joint angles, m…

Cited by 70Source ↗Scholar ↗
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, Kento Kawaharaduka, Yuki Asano, Shinsuke Nakashima, Shogo Makino, Moritaka Onitsuka +4
IROS 2019poster

To realize a robust automobile driving behavior of musculoskeletal tendon-driven humanoids, we developed a six-axis force measurement module with a core-shell structure. This sensor enables space saving, high load capacity and wholebody sensing at the same time. By developing a foot unit incorporati…

Cited by 6Source ↗Scholar ↗
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 +3
IROS 2019poster

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 acquisition method of the nonlinear relationship between joints and muscles, we could not completely match the actual robot and its…

Cited by 11Source ↗Scholar ↗