Project Websites

Real-world cooking robot system from recipes based on food state recognition using foundation models and PDDL
Real-world cooking robot system from recipes based on food state recognition using foundation models and PDDL

N. Kanazawa, K. Kawaharazuka, Y. Obinata, K. Okada, M. Inaba
Advanced Robotics (AR)
Reflex-Based Open-Vocabulary Navigation without Prior Knowledge Using Omnidirectional Camera and Multiple Vision-Language Models
Reflex-Based Open-Vocabulary Navigation without Prior Knowledge Using Omnidirectional Camera and Multiple Vision-Language Models

K. Kawaharazuka, Y. Obinata, N. Kanazawa, N. Tsukamoto, K. Okada, M. Inaba
Advanced Robotics (AR)
Behavioral Learning of Dish Rinsing and Scrubbing based on Interruptive Direct Teaching Considering Assistance Rate
Behavioral Learning of Dish Rinsing and Scrubbing based on Interruptive Direct Teaching Considering Assistance Rate

S. Wakabayashi, K. Kawaharazuka, K. Okada, M. Inaba
Advanced Robotics (AR)
Robotic Environmental State Recognition with Pre-Trained Vision-Language Models and Black-Box Optimization
Robotic Environmental State Recognition with Pre-Trained Vision-Language Models and Black-Box Optimization

K. Kawaharazuka, Y. Obinata, N. Kanazawa, K. Okada, M. Inaba
Advanced Robotics (AR)
Continuous Object State Recognition for Cooking Robots Using Pre-Trained Vision-Language Models and Black-box Optimization
Continuous Object State Recognition for Cooking Robots Using Pre-Trained Vision-Language Models and Black-box Optimization

K. Kawaharazuka, N. Kanazawa, Y. Obinata, K. Okada, M. Inaba
IEEE Robotics and Automation Letters (RAL)
SAQIEL: Ultra-Light and Safe Manipulator with Passive 3D Wire Alignment Mechanism
SAQIEL: Ultra-Light and Safe Manipulator with Passive 3D Wire Alignment Mechanism

T. Suzuki, M. Bando, K. Kawaharazuka, K. Okada, M. Inaba
IEEE Robotics and Automation Letters (RAL)
Design Optimization of Wire Arrangement With Variable Relay Points in Numerical Simulation for Tendon-Driven Robots
Design Optimization of Wire Arrangement With Variable Relay Points in Numerical Simulation for Tendon-Driven Robots

K. Kawaharazuka, S. Yoshimura, T. Suzuki, K. Okada, M. Inaba
IEEE Robotics and Automation Letters (RAL)
MEVIUS: A Quadruped Robot Easily Constructed through E-Commerce with Sheet Metal Welding and Machining
MEVIUS: A Quadruped Robot Easily Constructed through E-Commerce with Sheet Metal Welding and Machining

K. Kawaharazuka, S. Inoue, T. Suzuki, S. Yuzai, S. Sawaguchi, K. Okada, M. Inaba
2024 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2024)
CubiXMusashi: Fusion of Wire-Driven CubiX and Musculoskeletal Humanoid Musashi toward Unlimited Performance
CubiXMusashi: Fusion of Wire-Driven CubiX and Musculoskeletal Humanoid Musashi toward Unlimited Performance

S. Inoue, K. Kawaharazuka, T. Suzuki, S. Yuzaki, Y. Ribayashi, Y. Sahara, K. Okada
2024 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS2024)
Robot Design Optimization with Rotational and Prismatic Joints Using Black-Box Multi-Objective Optimization
Robot Design Optimization with Rotational and Prismatic Joints Using Black-Box Multi-Objective Optimization

K. Kawaharazuka, K. Okada, M. Inaba
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2024)
CubiX: Portable Wire-Driven Parallel Robot Connecting to and Utilizing the Environment
CubiX: Portable Wire-Driven Parallel Robot Connecting to and Utilizing the Environment

S. Inoue, K. Kawaharazuka, T. Suzuki, S. Yuzaki, K. Okada, M. Inaba
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2024)
Construction of Musculoskeletal Simulation for Shoulder Complex with Ligaments and Its Validation via Model Predictive Control
Construction of Musculoskeletal Simulation for Shoulder Complex with Ligaments and Its Validation via Model Predictive Control

Y. Sahara, A. Miki, Y. Ribayashi, S. Yoshimura, K. Kawaharazuka, K. Okada, M. Inaba
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2024)
Robotic Constrained Imitation Learning for the Peg Transfer Task in Fundamentals of Laparoscopic Surgery
Robotic Constrained Imitation Learning for the Peg Transfer Task in Fundamentals of Laparoscopic Surgery

K. Kawaharazuka, K. Okada, M. Inaba
2024 IEEE International Conference on Robotics and Automation (ICRA2024)
Adaptive Whole-body Robotic Tool-use Learning on Low-rigidity Plastic-made Humanoids Using Vision and Tactile Sensors
Adaptive Whole-body Robotic Tool-use Learning on Low-rigidity Plastic-made Humanoids Using Vision and Tactile Sensors

K. Kawaharazuka, K. Okada, M. Inaba
2024 IEEE International Conference on Robotics and Automation (ICRA2024)
Vision-Language Interpreter for Robot Task Planning
Vision-Language Interpreter for Robot Task Planning

K. Shirai, C. C. Beltran-Hernandez, M. Hamaya, A. Hashimoto, S. Tanaka, K. Kawaharazuka, K. Tanaka, Y. Ushiku, S. Mori
2024 IEEE International Conference on Robotics and Automation (ICRA2024)
Open X-Embodiment: Robotic Learning Datasets and RT-X Models
Open X-Embodiment: Robotic Learning Datasets and RT-X Models

Open X-Embodiment Collaboration
2024 IEEE International Conference on Robotics and Automation (ICRA2024)
Body Design and Gait Generation of Chair-Type Asymmetrical Tripedal Low-rigidity Robot
Body Design and Gait Generation of Chair-Type Asymmetrical Tripedal Low-rigidity Robot

S. Inoue, K. Kawaharazuka, K. Okada, M. Inaba
2024 IEEE International Conference on Soft Robotics (ROBOSOFT2024)
Daily Assistive Modular Robot Design Based on Multi-Objective Black-Box Optimization
Daily Assistive Modular Robot Design Based on Multi-Objective Black-Box Optimization

K. Kawaharazuka, T. Makabe, K. Okada, M. Inaba
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2023)
Development of a Whole-Body Work Imitation Learning System by a Biped and Bi-Armed Humanoid
Development of a Whole-Body Work Imitation Learning System by a Biped and Bi-Armed Humanoid

Y. Matsuura, K. Kawaharazuka, N. Hiraoka, K. Kojima, K. Okada, M. Inaba
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2023)
RAMIEL: A Parallel-Wire Driven Monopedal Robot for High and Continuous Jumping
RAMIEL: A Parallel-Wire Driven Monopedal Robot for High and Continuous Jumping

T. Suzuki, Y. Toshimitsu, Y. Nagamatsu, K. Kawaharazuka, A. Miki, Y. Ribayashi, M. Bando, K. Kojima, Y. Kakiuchi, K. Okada, M. Inaba
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2022)