Long-Time Self-Body Image Acquisition and Its Application to the Control of Musculoskeletal Structures

Kawaharazuka, Kento; Tsuzuki, K.; Makino, Shogo; Onitsuka, Moritaka; Asano, Yuki; Okada, Kei; Kawasaki, Koji; Inaba, Masayuki

doi:10.1109/lra.2019.2923968

Cited by 26 publications

(12 citation statements)

References 14 publications

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“…e basic idea of the mean ltering is that the pixel value of a certain point in the image is determined by other pixel values in a certain eld of that point, and the pixel values of other points in the eld are summed and averaged, and the result is used as the new pixel value of the point. In the selection of elds, the most commonly used are 4 elds with a unit length from the center point and 8 elds with a unit length of 12 units [13].…”

Section: Dot Matrix Image Preprocessingmentioning

confidence: 99%

Collaborative Music Creation Method Based on Image Collection of Lattice Code

Xiang

2022

International Transactions on Electrical Energy Systems

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With the development of science and technology, more and more emerging technologies have been integrated into electronic music, forming a rich and diverse form of interactive electronic music. This research mainly discusses the collaborative music creation method based on bit matrix code image acquisition. In the decoding process, the displacement value of each point should be determined according to the direction and distance from the point to the reference point of the corresponding grid raster. This article marks the position characteristics of image symbols according to the dot matrix code notation defined in the improved coding method. After searching for a pair of dot codes with the shortest distance in the horizontal or vertical direction, starting from the first code point in the vertical direction and following the second code point. Through the above method, it is possible to accurately construct the grid raster lines of the dot matrix position encoding symbol image formed after the improved encoding, so that the decoding of the dot matrix symbol image is more accurate, and the composition translation is reduced. The improved coding method reduces the error of the origin matrix code by about 0.11 mm as a whole. This research will realize the collaborative recording of data in the music creation process, which will bring great convenience to creators.

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Section: Dot Matrix Image Preprocessingmentioning

confidence: 99%

Collaborative Music Creation Method Based on Image Collection of Lattice Code

Xiang

2022

International Transactions on Electrical Energy Systems

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“…In order to quantitatively observe the movement, Intel Realsense T265 is attached to the back of the chair and the motion trajectory is measured by visual SLAM. The joint angles are converted into muscle lengths by [21] and sent to the actual robot. The period of the CTM and balance control is set to 5 Hz.…”

Section: Whole System For Seated Walkmentioning

confidence: 99%

Realization of Seated Walk by a Musculoskeletal Humanoid with Buttock-Contact Sensors From Human Constrained Teaching

Kawaharazuka

Okada

Inaba

2022

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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In this study, seated walk, a movement of walking while sitting on a chair with casters, is realized on a musculoskeletal humanoid from human teaching. The body is balanced by using buttock-contact sensors implemented on the planar interskeletal structure of the human mimetic musculoskeletal robot. Also, we develop a constrained teaching method in which one-dimensional control command, its transition, and a transition condition are described for each state in advance, and a threshold value for each transition condition such as joint angles and foot contact sensor values is determined based on human teaching. Complex behaviors can be easily generated from simple inputs. In the musculoskeletal humanoid MusashiOLegs, forward, backward, and rotational movements of seated walk are realized.

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“…In addition, these muscle modules can be attached to generic aluminum frames or can be connected to each other by using muscle attachments (B2), making it easy to change the muscle arrangement or add new muscles. Since each muscle contains a nonlinear elastic element (B1), the body structure is flexible and its flexibility can be freely changed [17]. The fingers of the musculoskeletal hand (B4) are composed of machined springs, which provide a highly shock-resistant structure, and nine loadcells are placed on the fingertips and palm to detect contact [6].…”

Section: A Design Of the Musculoskeletal Dual Armsmentioning

confidence: 99%

Hardware Design and Learning-Based Software Architecture of Musculoskeletal Wheeled Robot Musashi-W for Real-World Applications

Kawaharazuka

Miki

Bando

et al. 2022

2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)

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Various musculoskeletal humanoids have been developed so far. While these humanoids have the advantage of their flexible and redundant bodies that mimic the human body, they are still far from being applied to real-world tasks. One of the reasons for this is the difficulty of bipedal walking in a flexible body. Thus, we developed a musculoskeletal wheeled robot, Musashi-W, by combining a wheeled base and musculoskeletal upper limbs for real-world applications. Also, we constructed its software system by combining static and dynamic body schema learning, reflex control, and visual recognition. We show that the hardware and software of Musashi-W can make the most of the advantages of the musculoskeletal upper limbs, through several tasks of cleaning by human teaching, carrying a heavy object considering muscle addition, and setting a table through dynamic cloth manipulation with variable stiffness.

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Long-Time Self-Body Image Acquisition and Its Application to the Control of Musculoskeletal Structures

Cited by 26 publications

References 14 publications

Collaborative Music Creation Method Based on Image Collection of Lattice Code

Collaborative Music Creation Method Based on Image Collection of Lattice Code

Realization of Seated Walk by a Musculoskeletal Humanoid with Buttock-Contact Sensors From Human Constrained Teaching

Hardware Design and Learning-Based Software Architecture of Musculoskeletal Wheeled Robot Musashi-W for Real-World Applications

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