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In order for robots to autonomously navigate and operate in diverse environments, it is essential for them to recognize the state of their environment. On the other hand, the environmental state recognition has traditionally involved distinct methods tailored to each state to be recognized. In this study, we perform a unified environmental state recognition for robots through the spoken language with pre-trained large-scale vision-language models. We apply Visual Question Answering and Image-to-Text Retrieval, which are tasks of Vision-Language Models. We show that with our method, it is possible to recognize not only whether a room door is open/closed, but also whether a transparent door is open/closed and whether water is running in a sink, without training neural networks or manual programming. In addition, the recognition accuracy can be improved by selecting appropriate texts from the set of prepared texts based on black-box optimization. For each state recognition, only the text set and its weighting need to be changed, eliminating the need to prepare multiple different models and programs, and facilitating the management of source code and computer resource. We experimentally demonstrate the effectiveness of our method and apply it to the recognition behavior on a mobile robot, Fetch., Comment: Accepted at Advanced Robotics, website - https://haraduka.github.io/vlm-bbo/

We measured the transition frequencies of the hyperfine components in the four lines (P(34) 39-0, R(36) 39-0, P(33) 39-0, and R(35) 39-0) of the B-X transitions of molecular iodine at 520.2 nm. The 520.2 nm laser was generated by wavelength-converting the output of a 1560.6 nm external-cavity diode laser using a dual-pitch periodically poled lithium niobate (PPLN) waveguide. The frequencies were measured by counting the heterodyne beats between the laser stabilized at the frequencies of the hyperfine components and a frequency comb synchronized with a hydrogen maser. We determined the transition frequencies of the a1 components with relative uncertainties of 1*10-11; the uncertainty was limited by the impurity of the molecular iodine in the cell. From the measured hyperfine splitting frequencies, we calculated the hyperfine constants of these four transitions to obtain the rotational dependence of the excited-state hyperfine constants.

Musculoskeletal humanoids have various biomimetic advantages, of which redundant muscle arrangement is one of the most important features. This feature enables variable stiffness control and allows the robot to keep moving its joints even if one of the redundant muscles breaks, but this has been rarely explored. In this study, we construct a neural network that represents the relationship among sensors in the flexible and difficult-to-modelize body of the musculoskeletal humanoid, and by learning this neural network, accurate motions can be achieved. In order to take advantage of the redundancy of muscles, we discuss the use of this network for muscle rupture detection, online update of the intersensory relationship considering the muscle rupture, and body control and state estimation using the muscle rupture information. This study explains a method of constructing a musculoskeletal humanoid that continues to move and perform tasks robustly even when one muscle breaks., Comment: Accepted at Robotics and Autonomous Systems

Quadruped robots that individual researchers can build by themselves are crucial for expanding the scope of research due to their high scalability and customizability. These robots must be easily ordered and assembled through e-commerce or DIY methods, have a low number of components for easy maintenance, and possess durability to withstand experiments in diverse environments. Various quadruped robots have been developed so far, but most robots that can be built by research institutions are relatively small and made of plastic using 3D printers. These robots cannot withstand experiments in external environments such as mountain trails or rubble, and they will easily break with intense movements. Although there is the advantage of being able to print parts by yourself, the large number of components makes replacing broken parts and maintenance very cumbersome. Therefore, in this study, we develop a metal quadruped robot MEVIUS, that can be constructed and assembled using only materials ordered through e-commerce. We have considered the minimum set of components required for a quadruped robot, employing metal machining, sheet metal welding, and off-the-shelf components only. Also, we have achieved a simple circuit and software configuration. Considering the communication delay due to its simple configuration, we experimentally demonstrate that MEVIUS, utilizing reinforcement learning and Sim2Real, can traverse diverse rough terrains and withstand outside experiments. All hardware and software components can be obtained from https://github.com/haraduka/mevius., Comment: Accepted at Humanoids2024, website - https://haraduka.github.io/mevius-hardware/

Dynamic manipulation of flexible objects such as fabric, which is difficult to modelize, is one of the major challenges in robotics. With the development of deep learning, we are beginning to see results in simulations and in some actual robots, but there are still many problems that have not yet been tackled. Humans can move their arms at high speed using their flexible bodies skillfully, and even when the material to be manipulated changes, they can manipulate the material after moving it several times and understanding its characteristics. Therefore, in this research, we focus on the following two points: (1) body control using a variable stiffness mechanism for more dynamic manipulation, and (2) response to changes in the material of the manipulated object using parametric bias. By incorporating these two approaches into a deep predictive model, we show through simulation and actual robot experiments that Musashi-W, a musculoskeletal humanoid with variable stiffness mechanism, can dynamically manipulate cloth while detecting changes in the physical properties of the manipulated object., Comment: Accepted at Frontiers in Neurorobotics

We report the first measurement of the azimuthal anisotropy of J$/\psi$ at forward rapidity ($1.2<|\eta|<2.2$) in Au$+$Au collisions at $\sqrt{s_{_{NN}}}=200$ GeV at the Relativistic Heavy Ion Collider. The data were collected by the PHENIX experiment in 2014 and 2016 with integrated luminosity of 14.5~nb$^{-1}$. The second Fourier coefficient ($v_2$) of the azimuthal distribution of $J/\psi$ is determined as a function of the transverse momentum ($p_T$) using the event-plane method. The measurements were performed for several selections of collision centrality: 0\%--50\%, 10\%--60\%, and 10\%-40\%. We find that in all cases the values of $v_2(p_T)$, which quantify the elliptic flow of J$/\psi$, are consistent with zero. The results are consistent with measurements at midrapidity, indicating no significant elliptic flow of the J$/\psi$ within the quark-gluon-plasma medium at collision energies of $\sqrt{s_{_{NN}}}=200$ GeV., Comment: 369 authors from 72 institutions, 12 pages, 7 figures, 5 tables. v1 is version submitted to Physical Review C. HEPdata tables for the points plotted in figures for this and previous PHENIX publications are (or will be) publicly available at http://www.phenix.bnl.gov/papers.html

We present the first forward-rapidity measurements of elliptic anisotropy of open-heavy-flavor muons at the BNL Relativistic Heavy Ion Collider. The measurements are based on data samples of Au$+$Au collisions at $\sqrt{s_{_{NN}}}=200$ GeV collected by the PHENIX experiment in 2014 and 2016 with integrated luminosity of 14.5~nb$^{-1}$. The measurements are performed in the pseudorapidity range $1.2<|\eta|<2$ and cover transverse momenta $1

Human-like environment recognition by musculoskeletal humanoids is important for task realization in real complex environments and for use as dummies for test subjects. Humans integrate various sensory information to perceive their surroundings, and hearing is particularly useful for recognizing objects out of view or out of touch. In this research, we aim to realize human-like auditory environmental recognition and task realization for musculoskeletal humanoids by equipping them with a human-like auditory processing system. Humans realize sound-based environmental recognition by estimating directions of the sound sources and detecting environmental sounds based on changes in the time and frequency domain of incoming sounds and the integration of auditory information in the central nervous system. We propose a human mimetic auditory information processing system, which consists of three components: the human mimetic binaural ear unit, which mimics human ear structure and characteristics, the sound source direction estimation system, and the environmental sound detection system, which mimics processing in the central nervous system. We apply it to Musashi, a human mimetic musculoskeletal humanoid, and have it perform tasks that require sound information outside of view in real noisy environments to confirm the usefulness of the proposed methods., Comment: Accepted at ROBOMECH Journal

Humans can autonomously learn the relationship between sensation and motion in their own bodies, estimate and control their own body states, and move while continuously adapting to the current environment. On the other hand, current robots control their bodies by learning the network structure described by humans from their experiences, making certain assumptions on the relationship between sensors and actuators. In addition, the network model does not adapt to changes in the robot's body, the tools that are grasped, or the environment, and there is no unified theory, not only for control but also for state estimation, anomaly detection, simulation, and so on. In this study, we propose a Generalized Multisensory Correlational Model (GeMuCo), in which the robot itself acquires a body schema describing the correlation between sensors and actuators from its own experience, including model structures such as network input/output. The robot adapts to the current environment by updating this body schema model online, estimates and controls its body state, and even performs anomaly detection and simulation. We demonstrate the effectiveness of this method by applying it to tool-use considering changes in grasping state for an axis-driven robot, to joint-muscle mapping learning for a musculoskeletal robot, and to full-body tool manipulation for a low-rigidity plastic-made humanoid., Comment: Accepted at IEEE Robotics and Automation Magazine

The $J/\psi$ and $\psi(2S)$ charmonium states, composed of $c\bar{c}$ quark pairs and known since the 1970s, are widely believed to serve as ideal probes to test quantum chromodynamics in high-energy hadronic interactions. However, there is not yet a complete understanding of the charmonium-production mechanism. Recent measurements of $J/\psi$ production as a function of event charged-particle multiplicity at the collision energies of both the Large Hadron Collider (LHC) and the Relativistic Heavy Ion Collider (RHIC) show enhanced $J/\psi$ production yields with increasing multiplicity. One potential explanation for this type of dependence is multiparton interactions (MPI). We carry out the first measurements of self-normalized $J/\psi$ yields and the $\psi(2S)$ to $J/\psi$ ratio at both forward and backward rapidities as a function of self-normalized charged-particle multiplicity in $p$$+$$p$ collisions at $\sqrt{s}=200$ GeV. In addition, detailed {\sc pythia} studies tuned to RHIC energies were performed to investigate the MPI impacts. We find that the PHENIX data at RHIC are consistent with recent LHC measurements and can only be described by {\sc pythia} calculations that include MPI effects. The forward and backward $\psi(2S)$ to $J/\psi$ ratio, which serves as a unique and powerful approach to study final-state effects on charmonium production, is found to be less dependent on the charged-particle multiplicity., Comment: 301 authors from 69 institutions, 8 pages, 3 figures. v1 is version submitted to Physical Review D Letters. HEPdata tables for the points plotted in figures for this and previous PHENIX publications are (or will be) publicly available at http://www.phenix.bnl.gov/papers.html

The body structure of an anatomically correct tendon-driven musculoskeletal humanoid is complex, and the difference between its geometric model and the actual robot is very large because expressing the complex routes of tendon wires in a geometric model is very difficult. If we move a tendon-driven musculoskeletal humanoid by the tendon wire lengths of the geometric model, unintended muscle tension and slack will emerge. In some cases, this can lead to the wreckage of the actual robot. To solve this problem, we focused on reciprocal innervation in the human nervous system, and then implemented antagonist inhibition control (AIC) based on the reflex. This control makes it possible to avoid unnecessary internal muscle tension and slack of tendon wires caused by model error, and to perform wide range motion safely for a long time. To verify its effectiveness, we applied AIC to the upper limb of the tendon-driven musculoskeletal humanoid, Kengoro, and succeeded in dangling for 14 minutes and doing pull-ups., Comment: Accepted at IEEE Robotics and Automation Letters

For a robot with redundant sensors and actuators distributed throughout its body, it is difficult to construct a controller or a neural network using all of them due to computational cost and complexity. Therefore, it is effective to extract functionally related sensors and actuators, group them, and construct a controller or a network for each of these groups. In this study, the functional and spatial connections among sensors and actuators are embedded into a graph structure and a method for automatic grouping is developed. Taking a musculoskeletal humanoid with a large number of redundant muscles as an example, this method automatically divides all the muscles into regions such as the forearm, upper arm, scapula, neck, etc., which has been done by humans based on a geometric model. The functional relationship among the muscles and the spatial relationship of the neural connections are calculated without a geometric model., Comment: Accepted at IEEE Robotics and Automation Letters

Recent advancements in natural language processing, particularly with large language models (LLMs) like GPT-4, have significantly enhanced dialogue systems, enabling them to generate more natural and fluent conversations. Despite these improvements, challenges persist, such as managing continuous dialogues, memory retention, and minimizing hallucinations. The AIWolfDial2024 addresses these challenges by employing the Werewolf Game, an incomplete information game, to test the capabilities of LLMs in complex interactive environments. This paper introduces a LLM-based Werewolf Game AI, where each role is supported by situation analysis to aid response generation. Additionally, for the werewolf role, various persuasion strategies, including logical appeal, credibility appeal, and emotional appeal, are employed to effectively persuade other players to align with its actions., Comment: Accepted to the AIWolfDial2024 workshop at INLG 2024

Various robot navigation methods have been developed, but they are mainly based on Simultaneous Localization and Mapping (SLAM), reinforcement learning, etc., which require prior map construction or learning. In this study, we consider the simplest method that does not require any map construction or learning, and execute open-vocabulary navigation of robots without any prior knowledge to do this. We applied an omnidirectional camera and pre-trained vision-language models to the robot. The omnidirectional camera provides a uniform view of the surroundings, thus eliminating the need for complicated exploratory behaviors including trajectory generation. By applying multiple pre-trained vision-language models to this omnidirectional image and incorporating reflective behaviors, we show that navigation becomes simple and does not require any prior setup. Interesting properties and limitations of our method are discussed based on experiments with the mobile robot Fetch., Comment: Accepted at Advanced Robotics, website - https://haraduka.github.io/omnidirectional-vlm/

The jet cross-section and jet-substructure observables in $p$$+$$p$ collisions at $\sqrt{s}=200$ GeV were measured by the PHENIX Collaboration at the Relativistic Heavy Ion Collider (RHIC). Jets are reconstructed from charged-particle tracks and electromagnetic-calorimeter clusters using the anti-$k_{t}$ algorithm with a jet radius $R=0.3$ for jets with transverse momentum within $8.0

This study addresses the interaction challenges encountered by spoken dialogue systems (SDSs) when engaging with users who exhibit distinct conversational behaviors, particularly minors, in scenarios where data are scarce. We propose a novel data augmentation framework to enhance SDS performance for user groups with limited resources. Our approach leverages a large language model (LLM) to extract speaker styles and a pre-trained language model (PLM) to simulate dialogue act history. This method generates enriched and personalized dialogue data, facilitating improved interactions with unique user demographics. Extensive experiments validate the efficacy of our methodology, highlighting its potential to foster the development of more adaptive and inclusive dialogue systems., Comment: Accepted to SIGDIAL 2024

The human forearm is composed of two long, thin bones called the radius and the ulna, and rotates using two axle joints. We aimed to develop a forearm based on the body proportion, weight ratio, muscle arrangement, and joint performance of the human body in order to bring out its benefits. For this, we need to miniaturize the muscle modules. To approach this task, we arranged two muscle motors inside one muscle module, and used the space effectively by utilizing common parts. In addition, we enabled the muscle module to also be used as the bone structure. Moreover, we used miniature motors and developed a way to dissipate the motor heat to the bone structure. Through these approaches, we succeeded in developing a forearm with a radioulnar joint based on the body proportion, weight ratio, muscle arrangement, and joint performance of the human body, while keeping maintainability and reliability. Also, we performed some motions such as soldering, opening a book, turning a screw, and badminton swinging using the benefits of the radioulnar structure, which have not been discussed before, and verified that Kengoro can realize skillful motions using the radioulnar joint like a human., Comment: Accepted at IROS2017

Robots are expected to manipulate objects in a safe and dexterous way. For example, washing dishes is a dexterous operation that involves scrubbing the dishes with a sponge and rinsing them with water. It is necessary to learn it safely without splashing water and without dropping the dishes. In this study, we propose a safe and dexterous manipulation system. The robot learns a dynamics model of the object by estimating the state of the object and the robot itself, the control input, and the amount of human assistance required (assistance rate) after the human corrects the initial trajectory of the robot's hands by interruptive direct teaching. By backpropagating the error between the estimated and the reference value using the acquired dynamics model, the robot can generate a control input that approaches the reference value, for example, so that human assistance is not required and the dish does not move excessively. This allows for adaptive rinsing and scrubbing of dishes with unknown shapes and properties. As a result, it is possible to generate safe actions that require less human assistance., Comment: Accepted at Advanced Robotics

The PHENIX experiment measured the centrality dependence of two-pion Bose-Einstein correlation functions in $\sqrt{s_{_{NN}}}=200$~GeV Au$+$Au collisions at the Relativistic Heavy Ion Collider at Brookhaven National Laboratory. The data are well represented by L\'evy-stable source distributions. The extracted source parameters are the correlation-strength parameter $\lambda$, the L\'evy index of stability $\alpha$, and the L\'evy-scale parameter $R$ as a function of transverse mass $m_T$ and centrality. The $\lambda(m_T)$ parameter is constant at larger values of $m_T$, but decreases as $m_T$ decreases. The L\'evy scale parameter $R(m_T)$ decreases with $m_T$ and exhibits proportionality to the length scale of the nuclear overlap region. The L\'evy exponent $\alpha(m_T)$ is independent of $m_T$ within uncertainties in each investigated centrality bin, but shows a clear centrality dependence. At all centralities, the L\'evy exponent $\alpha$ is significantly different from that of Gaussian ($\alpha=2$) or Cauchy ($\alpha=1$) source distributions. Comparisons to the predictions of Monte-Carlo simulations of resonance-decay chains show that in all but the most peripheral centrality class (50%-60%), the obtained results are inconsistent with the measurements, unless a significant reduction of the in-medium mass of the $\eta'$ meson is included. In each centrality class, the best value of the in-medium $\eta'$ mass is compared to the mass of the $\eta$ meson, as well as to several theoretical predictions that consider restoration of $U_A(1)$ symmetry in hot hadronic matter., Comment: 401 authors from 75 institutions, 20 pages, 15 figures, 2 tables. v1 is version submitted to Physical Review C. HEPdata tables for the points plotted in figures for this and previous PHENIX publications are (or will be) publicly available at http://www.phenix.bnl.gov/papers.html

Imitation learning is one of the methods for reproducing human demonstration adaptively in robots. So far, it has been found that generalization ability of the imitation learning enables the robots to perform tasks adaptably in untrained environments. However, motion styles such as motion trajectory and the amount of force applied depend largely on the dataset of human demonstration, and settle down to an average motion style. In this study, we propose a method that adds parametric bias to the conventional imitation learning network and can add constraints to the motion style. By experiments using PR2 and the musculoskeletal humanoid MusashiLarm, we show that it is possible to perform tasks by changing its motion style as intended with constraints on joint velocity, muscle length velocity, and muscle tension., Comment: Accepted at IEEE Robotics and Automation Letters

The estimation and management of motor temperature are important for the continuous movements of robots. In this study, we propose an online learning method of thermal model parameters of motors for an accurate estimation of motor core temperature. Also, we propose a management method of motor core temperature using the updated model and anomaly detection method of motors. Finally, we apply this method to the muscles of the musculoskeletal humanoid and verify the ability of continuous movements., Comment: Accepted at IEEE Robotics and Automation Letters

Various robotic tool manipulation methods have been developed so far. However, to our knowledge, none of them have taken into account the fact that the grasping state such as grasping position and tool angle can change at any time during the tool manipulation. In addition, there are few studies that can handle deformable tools. In this study, we develop a method for estimating the position of a tool-tip, controlling the tool-tip, and handling online adaptation to changes in the relationship between the body and the tool, using a neural network including parametric bias. We demonstrate the effectiveness of our method for online change in grasping state and for deformable tools, in experiments using two different types of robots: axis-driven robot PR2 and tendon-driven robot MusashiLarm., Comment: Accepted at IEEE Robotics and Automation Letters

The flexible musculoskeletal hand is difficult to modelize, and its model can change constantly due to deterioration over time, irreproducibility of initialization, etc. Also, for object recognition, contact detection, and contact control using the hand, it is desirable not to use a neural network trained for each task, but to use only one integrated network. Therefore, we develop a method to acquire a sensor state equation of the musculoskeletal hand using a recurrent neural network with parametric bias. By using this network, the hand can realize recognition of the grasped object, contact simulation, detection, and control, and can cope with deterioration over time, irreproducibility of initialization, etc. by updating parametric bias. We apply this study to the hand of the musculoskeletal humanoid Musashi and show its effectiveness., Comment: Accepted at IEEE Robotics and Automation Letters

The strength distributions of the Isoscalar Giant Monopole Resonance (ISGMR) and Isoscalar Giant Quadrupole Resonance (ISGQR) in 142,146-150Nd have been determined via inelastic alpha-particle scattering with the Grand Raiden (GR) Spectrometer at the Research Center for Nuclear Physics (RCNP), Japan. In the deformed nuclei 146-150Nd, the ISGMR strength distributions exhibit a splitting into two components, while the nearly spherical nucleus 142Nd displays a single peak in the ISGMR strength distribution. A noteworthy achievement in this study is the first-time detection of overtones in the Isoscalar Giant Quadrupole Resonance (ISGQR) strength distributions within Nd isotopes at an excitation energy around 25 MeV obtained through Multipole Decomposition Analysis (MDA)., Comment: Accepted for publication in Physics Letters B

The flexible under-actuated musculoskeletal hand is superior in its adaptability and impact resistance. On the other hand, since the relationship between sensors and actuators cannot be uniquely determined, almost all its controls are based on feedforward controls. When grasping and using a tool, the contact state of the hand gradually changes due to the inertia of the tool or impact of action, and the initial contact state is hardly kept. In this study, we propose a system that trains the predictive network of sensor state transition using the actual robot sensor information, and keeps the initial contact state by a feedback control using the network. We conduct experiments of hammer hitting, vacuuming, and brooming, and verify the effectiveness of this study., Comment: Accepted at ICRA2020

While the musculoskeletal humanoid has various biomimetic benefits, the modeling of its complex structure is difficult, and many learning-based systems have been developed so far. There are various methods, such as control methods using acquired relationships between joints and muscles represented by a data table or neural network, and state estimation methods using Extended Kalman Filter or table search. In this study, we construct a Musculoskeletal AutoEncoder representing the relationship among joint angles, muscle tensions, and muscle lengths, and propose a unified method of state estimation, control, and simulation of musculoskeletal humanoids using it. By updating the Musculoskeletal AutoEncoder online using the actual robot sensor information, we can continuously conduct more accurate state estimation, control, and simulation than before the online learning. We conducted several experiments using the musculoskeletal humanoid Musashi, and verified the effectiveness of this study., Comment: Accepted at IEEE Robotics and Automation Letters

High-momentum two-particle correlations are a useful tool for studying jet-quenching effects in the quark-gluon plasma. Angular correlations between neutral-pion triggers and charged hadrons with transverse momenta in the range 4--12~GeV/$c$ and 0.5--7~GeV/$c$, respectively, have been measured by the PHENIX experiment in 2014 for Au$+$Au collisions at $\sqrt{s_{_{NN}}}=200$~GeV. Suppression is observed in the yield of high-momentum jet fragments opposite the trigger particle, which indicates jet suppression stemming from in-medium partonic energy loss, while enhancement is observed for low-momentum particles. The ratio and differences between the yield in Au$+$Au collisions and $p$$+$$p$ collisions, $I_{AA}$ and $\Delta_{AA}$, as a function of the trigger-hadron azimuthal separation, $\Delta\phi$, are measured for the first time at the Relativistic Heavy Ion Collider. These results better quantify how the yield of low-$p_T$ associated hadrons is enhanced at wide angle, which is crucial for studying energy loss as well as medium-response effects., Comment: 534 authors from 83 institutions, 12 pages, 7 figures. v1 is version submitted to Physical Review C. HEPdata tables for the points plotted in figures for this and previous PHENIX publications are (or will be) publicly available at http://www.phenix.bnl.gov/papers.html

This paper reports the development and testing of n-type silicon pad array detectors targeted for the Forward Calorimeter (FoCal) detector, which is an upgrade of the ALICE detector at CERN, scheduled for data taking in Run~4~(2029-2034). The FoCal detector includes hadronic and electromagnetic calorimeters, with the latter made of tungsten absorber layers and granular silicon pad arrays read out using the High Granularity Calorimeter Readout Chip~(HGCROC). This paper covers the Technology Computer-Aided Design (TCAD) simulations, the fabrication process, current versus voltage (IV) and capacitance versus voltage (CV) measurements, test results with a blue LED and $^{90}$Sr beta source, and neutron radiation hardness tests. IV measurements for the detector showed that 90\% of the pads had leakage current below 10~nA at full depletion voltage. Simulations predicted a breakdown voltage of 1000~V and practical tests confirmed stable operation up to 500~V without breakdown. CV measurements in the data and the simulations gave a full depletion voltage of around 50~V at a capacitance of 35~pF. LED tests verified that all detector pads responded correctly. Additionally, the 1$\times$1 cm$^2$ pads were also tested with the neutron radiations at a fluence of $5\times10^{13}$ 1~MeV~n$_{eq}$/cm$^2$., Comment: 17 pages and 15 figures

This paper summarizes an autonomous driving project by musculoskeletal humanoids. The musculoskeletal humanoid, which mimics the human body in detail, has redundant sensors and a flexible body structure. These characteristics are suitable for motions with complex environmental contact, and the robot is expected to sit down on the car seat, step on the acceleration and brake pedals, and operate the steering wheel by both arms. We reconsider the developed hardware and software of the musculoskeletal humanoid Musashi in the context of autonomous driving. The respective components of autonomous driving are conducted using the benefits of the hardware and software. Finally, Musashi succeeded in the pedal and steering wheel operations with recognition., Comment: Accepted at IEEE Robotics and Automation Magazine

In this paper, we study a nonlocal boundary blow up problem on an interval and obtain the precise asymptotic formula for solutions when the bifurcation parameter in the problem is large., Comment: Typos are fixed

Manipulation performance improvement is crucial for aerial robots. For aerial manipulators, the baselink position and attitude errors directly affect the precision at the end effector. To address this stability problem, fixed-body approaches such as perching on the environment using the rotor suction force are useful. Additionally, conventional arm-equipped multirotors, called rotor-concentrated manipulators (RCMs), find it difficult to generate a large wrench at the end effector due to joint torque limitations. Using distributed rotors to each link, the thrust can support each link weight, decreasing the arm joints' torque. Based on this approach, rotor-distributed manipulators (RDMs) can increase feasible wrench and reachability of the end-effector. This paper introduces a minimal configuration of a rotor-distributed manipulator that can perch on surfaces, especially ceilings, using a part of their body. First, we design a minimal rotor-distributed arm considering the flight and end-effector performance. Second, a flight controller is proposed for this minimal RDM along with a perching controller adaptable for various types of aerial robots. Third, we propose a motion planning method based on inverse kinematics (IK), considering specific constraints to the proposed RDMs such as perching force. Finally, we evaluate flight and perching motions and \revise{confirm} that the proposed manipulator can significantly improve the manipulation performance., Comment: IEEE Transactions on Robotics (2023)

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, we propose a method of learning a correlation model among the joint angle, muscle tension, and muscle length of the ankle and the zero moment point to perform balance control. In addition, information on the changing body state is embedded in the model using parametric bias, and the model estimates and adapts to the current body state by learning this information online. This makes it possible to adapt to changes in upper body posture that are not directly taken into account in the model, since it is difficult to learn the complete dynamics of the whole body considering the amount of data and computation. The model can also adapt to changes in body state, such as the change in footwear and change in the joint origin due to recalibration. The effectiveness of this method is verified by a simulation and by using an actual musculoskeletal humanoid, Musashi., Comment: Accepted at IROS2022

While the musculoskeletal humanoid has various biomimetic benefits, its complex modeling is difficult, and many learning control methods have been developed. However, for the actual robot, the hysteresis of its joint angle tracking is still an obstacle, and realizing target posture quickly and accurately has been difficult. Therefore, we develop a feedback control method considering the hysteresis. To solve the problem in feedback controls caused by the closed-link structure of the musculoskeletal body, we update a neural network representing the relationship between the error of joint angles and the change in target muscle lengths online, and realize target joint angles accurately in a few trials. We compare the performance of several configurations with various network structures and loss definitions, and verify the effectiveness of this study on an actual musculoskeletal humanoid, Musashi., Comment: Accepted at IROS2022

In this study, we investigate object grasping by visual servoing in a low-rigidity robot. It is difficult for a low-rigidity robot to handle its own body as intended compared to a rigid robot, and calibration between vision and body takes some time. In addition, the robot must constantly adapt to changes in its body, such as the change in camera position and change in joints due to aging. Therefore, we develop a method for a low-rigidity robot to autonomously learn visual servoing of its body. We also develop a mechanism that can adaptively change its visual servoing according to temporal body changes. We apply our method to a low-rigidity 6-axis arm, MyCobot, and confirm its effectiveness by conducting object grasping experiments based on visual servoing., Comment: Accepted at IEEE Robotics and Automation Letters

Various robots have been developed so far; however, we face challenges in modeling the low-rigidity bodies of some robots. In particular, the deflection of the body changes during tool-use due to object grasping, resulting in significant shifts in the tool-tip position and the body's center of gravity. Moreover, this deflection varies depending on the weight and length of the tool, making these models exceptionally complex. However, there is currently no control or learning method that takes all of these effects into account. In this study, we propose a method for constructing a neural network that describes the mutual relationship among joint angle, visual information, and tactile information from the feet. We aim to train this network using the actual robot data and utilize it for tool-tip control. Additionally, we employ Parametric Bias to capture changes in this mutual relationship caused by variations in the weight and length of tools, enabling us to understand the characteristics of the grasped tool from the current sensor information. We apply this approach to the whole-body tool-use on KXR, a low-rigidity plastic-made humanoid robot, to validate its effectiveness., Comment: Accepted at ICRA2024, website - https://haraduka.github.io/wholebody-tooluse/

In this study, we present an implementation strategy for a robot that performs peg transfer tasks in Fundamentals of Laparoscopic Surgery (FLS) via imitation learning, aimed at the development of an autonomous robot for laparoscopic surgery. Robotic laparoscopic surgery presents two main challenges: (1) the need to manipulate forceps using ports established on the body surface as fulcrums, and (2) difficulty in perceiving depth information when working with a monocular camera that displays its images on a monitor. Especially, regarding issue (2), most prior research has assumed the availability of depth images or models of a target to be operated on. Therefore, in this study, we achieve more accurate imitation learning with only monocular images by extracting motion constraints from one exemplary motion of skilled operators, collecting data based on these constraints, and conducting imitation learning based on the collected data. We implemented an overall system using two Franka Emika Panda Robot Arms and validated its effectiveness., Comment: Accepted at ICRA2024, website - https://haraduka.github.io/fls-imitation

Library-based methods are known to be very effective for fast motion planning by adapting an experience retrieved from a precomputed library. This article presents CoverLib, a principled approach for constructing and utilizing such a library. CoverLib iteratively adds an experience-classifier-pair to the library, where each classifier corresponds to an adaptable region of the experience within the problem space. This iterative process is an active procedure, as it selects the next experience based on its ability to effectively cover the uncovered region. During the query phase, these classifiers are utilized to select an experience that is expected to be adaptable for a given problem. Experimental results demonstrate that CoverLib effectively mitigates the trade-off between plannability and speed observed in global (e.g. sampling-based) and local (e.g. optimization-based) methods. As a result, it achieves both fast planning and high success rates over the problem domain. Moreover, due to its adaptation-algorithm-agnostic nature, CoverLib seamlessly integrates with various adaptation methods, including nonlinear programming-based and sampling-based algorithms.

When a robot executes a task, it is necessary to model the relationship among its body, target objects, tools, and environment, and to control its body to realize the target state. However, it is difficult to model them using classical methods if the relationship is complex. In addition, when the relationship changes with time, it is necessary to deal with the temporal changes of the model. In this study, we have developed Deep Predictive Model with Parametric Bias (DPMPB) as a more human-like adaptive intelligence to deal with these modeling difficulties and temporal model changes. We categorize and summarize the theory of DPMPB and various task experiments on the actual robots, and discuss the effectiveness of DPMPB., Comment: Accepted at Robotics and Automation Magazine (RAM)

Tendon-driven musculoskeletal humanoids typically have complex structures similar to those of human beings, such as ball joints and the scapula, in which encoders cannot be installed. Therefore, joint angles cannot be directly obtained and need to be estimated using the changes in muscle lengths. In previous studies, methods using table-search and extended kalman filter have been developed. These methods express the joint-muscle mapping, which is the nonlinear relationship between joint angles and muscle lengths, by using a data table, polynomials, or a neural network. However, due to computational complexity, these methods cannot consider the effects of polyarticular muscles. In this study, considering the limitation of the computational cost, we reduce unnecessary degrees of freedom, divide joints and muscles into several groups, and formulate a joint angle estimation method that takes into account polyarticular muscles. Also, we extend the estimation method to propose a joint angle estimation method using only the relative changes in muscle lengths. By this extension, which does not use absolute muscle lengths, we do not need to execute a difficult calibration of muscle lengths for tendon-driven musculoskeletal humanoids. Finally, we conduct experiments in simulation and actual environments, and verify the effectiveness of this study., Comment: Accepted at Humanoids2018

By the recent spread of machine learning in the robotics field, a humanoid that can act, perceive, and learn in the real world through contact with the environment needs to be developed. In this study, as one of the choices, we propose a novel humanoid TWIMP, which combines a human mimetic musculoskeletal upper limb with a two-wheel inverted pendulum. By combining the benefit of a musculoskeletal humanoid, which can achieve soft contact with the external environment, and the benefit of a two-wheel inverted pendulum with a small footprint and high mobility, we can easily investigate learning control systems in environments with contact and sudden impact. We reveal our whole concept and system details of TWIMP, and execute several preliminary experiments to show its potential ability., Comment: Accepted at Humanoids2018

We report on a reduced time variation of a time scale with respect to Coordinated Universal Time (UTC) by steering a hydrogen-maser-based time scale with a near-continuously operating optical lattice clock. The time scale is generated in a post-processing analysis for 230 days with a hydrogen maser with its fractional frequency stability limited by a flicker floor of $2\times10^{-15}$ and an Yb optical lattice clock operated with an uptime of 81.6 $\%$. During the 230-day period, the root mean square time variation of our time scale with respect to UTC is 0.52 ns, which is a better performance compared with those of time scales steered by microwave fountain clocks that exhibit root mean square variations from 0.99 ns to 1.6 ns. With the high uptime achieved by the Yb optical lattice clock, our simulation implies the potential of generating a state-of-the-art time scale with a time variation of $<0.1$ ns over a month using a better hydrogen maser reaching the mid $10^{-16}$ level. This work demonstrates that a use of an optical clock with a high uptime enhances the stability of a time scale.

Modular self-reconfigurable robots (MSRRs) offer enhanced task flexibility by constructing various structures suitable for each task. However, conventional terrestrial MSRRs equipped with wheels face critical challenges, including limitations in the size of constructible structures and system robustness due to elevated wrench loads applied to each module. In this work, we introduce an Aerial MSRR (A-MSRR) system named BEATLE, capable of merging and separating in-flight. BEATLE can merge without applying wrench loads to adjacent modules, thereby expanding the scalability and robustness of conventional terrestrial MSRRs. In this article, we propose a system configuration for BEATLE, including mechanical design, a control framework for multi-connected flight, and a motion planner for reconfiguration motion. The design of a docking mechanism and housing structure aims to balance the durability of the constructed structure with ease of separation. Furthermore, the proposed flight control framework achieves stable multi-connected flight based on contact wrench control. Moreover, the proposed motion planner based on a finite state machine (FSM) achieves precise and robust reconfiguration motion. We also introduce the actual implementation of the prototype and validate the robustness and scalability of the proposed system design through experiments and simulation studies.

The human joint is an open-type joint composed of bones, cartilage, ligaments, synovial fluid, and joint capsule, having advantages of flexibility and impact resistance. However, replicating this structure in robots introduces friction challenges due to the absence of bearings. To address this, our study focuses on mimicking the fluid-exuding function of human cartilage. We employ a rubber-based 3D printing technique combined with absorbent materials to create a versatile and easily designed cartilage sheet for biomimetic robots. We evaluate both the fluid-exuding function and friction coefficient of the fabricated flat cartilage sheet. Furthermore, we practically create a piece of curved cartilage and an open-type biomimetic ball joint in combination with bones, ligaments, synovial fluid, and joint capsule to demonstrate the utility of the proposed cartilage sheet in the construction of such joints., Comment: Accepted at RoboSoft2024

The body structures of tendon-driven musculoskeletal humanoids are complex, and accurate modeling is difficult, because they are made by imitating the body structures of human beings. For this reason, we have not been able to move them accurately like ordinary humanoids driven by actuators in each axis, and large internal muscle tension and slack of tendon wires have emerged by the model error between its geometric model and the actual robot. Therefore, we construct a joint-muscle mapping (JMM) using a neural network (NN), which expresses a nonlinear relationship between joint angles and muscle lengths, and aim to move tendon-driven musculoskeletal humanoids accurately by updating the JMM online from data of the actual robot. In this study, the JMM is updated online by using the vision of the robot so that it moves to the correct position (Vision Updater). Also, we execute another update to modify muscle antagonisms correctly (Antagonism Updater). By using these two updaters, the error between the target and actual joint angles decrease to about 40% in 5 minutes, and we show through a manipulation experiment that the tendon-driven musculoskeletal humanoid Kengoro becomes able to move as intended. This novel system can adapt to the state change and growth of robots, because it updates the JMM online successively., Comment: Accepted at IEEE Robotics and Automation Letters, 2018

The tendon-driven musculoskeletal humanoid has many benefits that human beings have, but the modeling of its complex muscle and bone structures is difficult and conventional model-based controls cannot realize intended movements. Therefore, a learning control mechanism that acquires nonlinear relationships between joint angles, muscle tensions, and muscle lengths from the actual robot is necessary. In this study, we propose a system which runs the learning control mechanism for a long time to keep the self-body image of the musculoskeletal humanoid correct at all times. Also, we show that the musculoskeletal humanoid can conduct position control, torque control, and variable stiffness control using this self-body image. We conduct a long-time self-body image acquisition experiment lasting 3 hours, evaluate variable stiffness control using the self-body image, etc., and discuss the superiority and practicality of the self-body image acquisition of musculoskeletal structures, comprehensively., Comment: Accepted at IEEE Robotics and Automation Letters, 2019

Tendon-driven musculoskeletal humanoids have many benefits in terms of the flexible spine, multiple degrees of freedom, and variable stiffness. At the same time, because of its body complexity, there are problems in controllability. First, due to the large difference between the actual robot and its geometric model, it cannot move as intended and large internal muscle tension may emerge. Second, movements which do not appear as changes in muscle lengths may emerge, because of the muscle route changes caused by softness of body tissue. To solve these problems, we construct two models: ideal joint-muscle model and muscle-route change model, using a neural network. We initialize these models by a man-made geometric model and update them online using the sensor information of the actual robot. We validate that the tendon-driven musculoskeletal humanoid Kengoro is able to obtain a correct self-body image through several experiments., Comment: Accepted at IROS2018

In this study, a chair-type asymmetric tripedal low-rigidity robot was designed based on the three-legged chair character in the movie "Suzume" and its gait was generated. Its body structure consists of three legs that are asymmetric to the body, so it cannot be easily balanced. In addition, the actuator is a servo motor that can only feed-forward rotational angle commands and the sensor can only sense the robot's posture quaternion. In such an asymmetric and imperfect body structure, we analyzed how gait is generated in walking and stand-up motions by generating gaits with two different methods: a method using linear completion to connect the postures necessary for the gait discovered through trial and error using the actual robot, and a method using the gait generated by reinforcement learning in the simulator and reflecting it to the actual robot. Both methods were able to generate gait that realized walking and stand-up motions, and interesting gait patterns were observed, which differed depending on the method, and were confirmed on the actual robot. Our code and demonstration videos are available here: https://github.com/shin0805/Chair-TypeAsymmetricalTripedalRobot.git, Comment: Accepted at RoboSoft2024, website - https://shin0805.github.io/chair-type-tripedal-robot/ , YouTube - https://youtu.be/-f8LDlhmdBg

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., Comment: accepted at IROS2022

Musculoskeletal humanoids have been developed by imitating humans and expected to perform natural and dynamic motions as well as humans. To achieve desired motions stably in current musculoskeletal humanoids is not easy because they cannot maintain the sufficient moment arm of muscles in various postures. In this research, we discuss planar structures that spread across joint structures such as ligament and planar muscles and the application of planar interskeletal structures to humanoid robots. Next, we develop MusashiOLegs, a musculoskeletal legs which has planar interskeletal structures and conducts several experiments to verify the importance of planar interskeletal structures., Comment: accepted at Humanoids2020