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ORCIDYasunori Toshimitsu
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2020 – today
- 2025
[i16]Kento Kawaharazuka, Yasunori Toshimitsu, Manabu Nishiura, Yuya Koga, Yusuke Omura, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba:
Design Optimization of Musculoskeletal Humanoids with Maximization of Redundancy to Compensate for Muscle Rupture. CoRR abs/2502.12803 (2025)- 2024
- [c18]Davide Liconti, Yasunori Toshimitsu, Robert K. Katzschmann:
Leveraging Pretrained Latent Representations for Few-Shot Imitation Learning on an Anthropomorphic Robotic Hand. Humanoids 2024: 181-188 - [i15]Kento Kawaharazuka, Akihiro Miki, Masahiro Bando, Temma Suzuki, Yoshimoto Ribayashi, Yasunori Toshimitsu, Yuya Nagamatsu, Kei Okada, Masayuki Inaba:
Hardware Design and Learning-Based Software Architecture of Musculoskeletal Wheeled Robot Musashi-W for Real-World Applications. CoRR abs/2403.11729 (2024) - [i14]Moritaka Onitsuka, Manabu Nishiura, Kento Kawaharazuka, Kei Tsuzuki, Yasunori Toshimitsu, Yusuke Omura, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba:
Development of Musculoskeletal Legs with Planar Interskeletal Structures to Realize Human Comparable Moving Function. CoRR abs/2404.00890 (2024) - [i13]Davide Liconti, Yasunori Toshimitsu, Robert K. Katzschmann:
Leveraging Pretrained Latent Representations for Few-Shot Imitation Learning on a Dexterous Robotic Hand. CoRR abs/2404.16483 (2024) - [i12]Kento Kawaharazuka, Yoshimoto Ribayashi, Akihiro Miki, Yasunori Toshimitsu, Temma Suzuki, Kei Okada, Masayuki Inaba:
Learning of Balance Controller Considering Changes in Body State for Musculoskeletal Humanoids. CoRR abs/2405.11803 (2024) - [i11]Kento Kawaharazuka, Manabu Nishiura, Yuya Koga, Yusuke Omura, Yasunori Toshimitsu, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba:
Automatic Grouping of Redundant Sensors and Actuators Using Functional and Spatial Connections: Application to Muscle Grouping for Musculoskeletal Humanoids. CoRR abs/2409.00678 (2024) - [i10]Yusuke Omura, Kento Kawaharazuka, Yuya Nagamatsu, Yuya Koga, Manabu Nishiura, Yasunori Toshimitsu, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba:
Human-mimetic binaural ear design and sound source direction estimation for task realization of musculoskeletal humanoids. CoRR abs/2409.06429 (2024) - [i9]Kento Kawaharazuka, Manabu Nishiura, Yasunori Toshimitsu, Yusuke Omura, Yuya Koga, Yuki Asano, Koji Kawasaki, Masayuki Inaba:
Robust Continuous Motion Strategy Against Muscle Rupture using Online Learning of Redundant Intersensory Networks for Musculoskeletal Humanoids. CoRR abs/2409.14951 (2024) - [i8]Yuya Koga, Kento Kawaharazuka, Yasunori Toshimitsu, Manabu Nishiura, Yusuke Omura, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba:
Self-Body Image Acquisition and Posture Generation with Redundancy using Musculoskeletal Humanoid Shoulder Complex for Object Manipulation. CoRR abs/2411.06320 (2024) - [i7]Kento Kawaharazuka, Akihiro Miki, Yasunori Toshimitsu, Kei Okada, Masayuki Inaba:
Adaptive Body Schema Learning System Considering Additional Muscles for Musculoskeletal Humanoids. CoRR abs/2411.06322 (2024) - 2023
- [j6]Oliver Fischer
, Yasunori Toshimitsu, Amirhossein Kazemipour, Robert K. Katzschmann:
Dynamic Task Space Control Enables Soft Manipulators to Perform Real-World Tasks. Adv. Intell. Syst. 5(1) (2023) - [j5]Oncay Yasa, Yasunori Toshimitsu, Mike Yan Michelis, Lewis S. Jones, Miriam Filippi, Thomas Buchner, Robert K. Katzschmann:
An Overview of Soft Robotics. Annu. Rev. Control. Robotics Auton. Syst. 6: 1-29 (2023) - [c17]Yasunori Toshimitsu, Benedek Forrai, Barnabas Gavin Cangan, Ulrich Steger, Manuel Knecht, Stefan Weirich, Robert K. Katzschmann:
Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints. Humanoids 2023: 1-7 - [i6]Yasunori Toshimitsu, Benedek Forrai, Barnabas Gavin Cangan, Ulrich Steger, Manuel Knecht, Stefan Weirich, Robert K. Katzschmann:
Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints. CoRR abs/2308.02453 (2023) - [i5]Nico Gürtler, Felix Widmaier, Cansu Sancaktar, Sebastian Blaes, Pavel Kolev, Stefan Bauer, Manuel Wüthrich, Markus Wulfmeier, Martin A. Riedmiller, Arthur Allshire, Qiang Wang, Robert McCarthy, Hangyeol Kim, Jongchan Baek, Wookyong Kwon, Shanliang Qian, Yasunori Toshimitsu, Mike Yan Michelis, Amirhossein Kazemipour, Arman Raayatsanati, Hehui Zheng, Barnabas Gavin Cangan, Bernhard Schölkopf, Georg Martius:
Real Robot Challenge 2022: Learning Dexterous Manipulation from Offline Data in the Real World. CoRR abs/2308.07741 (2023) - [i4]Temma Suzuki, Yasunori Toshimitsu, Yuya Nagamatsu, Kento Kawaharazuka, Akihiro Miki, Yoshimoto Ribayashi, Masahiro Bando, Kunio Kojima, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
RAMIEL: A Parallel-Wire Driven Monopedal Robot for High and Continuous Jumping. CoRR abs/2311.04573 (2023) - 2022
- [j4]Kento Kawaharazuka, Akihiro Miki, Yasunori Toshimitsu, Kei Okada, Masayuki Inaba:
Adaptive Body Schema Learning System Considering Additional Muscles for Musculoskeletal Humanoids. IEEE Robotics Autom. Lett. 7(2): 3459-3466 (2022) - [j3]Kento Kawaharazuka, Manabu Nishiura, Yasunori Toshimitsu, Yusuke Omura, Yuya Koga, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba:
Robust continuous motion strategy against muscle rupture using online learning of redundant intersensory networks for musculoskeletal humanoids. Robotics Auton. Syst. 152: 104067 (2022) - [c16]Yoshimoto Ribayashi, Kento Kawaharazuka, Yasunori Toshimitsu, Daiki Kusuyama, Akihiro Miki, Koki Shinjo, Masahiro Bando, Temma Suzuki, Yuta Kojio, Kei Okada, Masayuki Inaba:
Design of Robot Foot with Outer Edge Measurement Structure and Chair Rotation Motion by Friction Control. Humanoids 2022: 314-321 - [c15]Kento Kawaharazuka, Akihiro Miki, Masahiro Bando, Temma Suzuki, Yoshimoto Ribayashi, Yasunori Toshimitsu, Yuya Nagamatsu, Kei Okada, Masayuki Inaba:
Hardware Design and Learning-Based Software Architecture of Musculoskeletal Wheeled Robot Musashi-W for Real-World Applications. Humanoids 2022: 413-419 - [c14]Amirhossein Kazemipour, Oliver Fischer, Yasunori Toshimitsu, Ki Wan Wong, Robert K. Katzschmann:
Adaptive Dynamic Sliding Mode Control of Soft Continuum Manipulators. ICRA 2022: 3259-3265 - [c13]Yasunori Toshimitsu, Kento Kawaharazuka, Akihiro Miki, Kei Okada, Masayuki Inaba:
DIJE: Dense Image Jacobian Estimation for Robust Robotic Self-Recognition and Visual Servoing. IROS 2022: 2219-2226 - [c12]Yoshimoto Ribayashi, Kento Kawaharazuka, Yasunori Toshimitsu, Daiki Kusuyama, Akihiro Miki, Koki Shinjo, Masahiro Bando, Temma Suzuki, Yuta Kojio, Kei Okada, Masayuki Inaba:
Imitation Behavior of the Outer Edge of the Foot by Humanoids Using a Simplified Contact State Representation. IROS 2022: 4243-4249 - [c11]Temma Suzuki, Yasunori Toshimitsu, Yuya Nagamatsu, Kento Kawaharazuka, Akihiro Miki, Yoshimoto Ribayashi, Masahiro Bando, Kunio Kojima, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
RAMIEL: A Parallel-Wire Driven Monopedal Robot for High and Continuous Jumping. IROS 2022: 5017-5024 - [c10]Kento Kawaharazuka, Yoshimoto Ribayashi, Akihiro Miki, Yasunori Toshimitsu, Temma Suzuki, Kei Okada, Masayuki Inaba:
Learning of Balance Controller Considering Changes in Body State for Musculoskeletal Humanoids. IROS 2022: 5809-5816 - [i3]Oliver Fischer, Yasunori Toshimitsu, Amirhossein Kazemipour, Robert K. Katzschmann:
Dynamic Control of Soft Manipulators to Perform Real-World Tasks. CoRR abs/2201.02151 (2022) - 2021
- [j2]Kento Kawaharazuka, Manabu Nishiura, Yuya Koga, Yusuke Omura, Yasunori Toshimitsu, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba:
Automatic Grouping of Redundant Sensors and Actuators Using Functional and Spatial Connections: Application to Muscle Grouping for Musculoskeletal Humanoids. IEEE Robotics Autom. Lett. 6(2): 1981-1988 (2021) - [j1]Yuya Koga, Kento Kawaharazuka, Yasunori Toshimitsu, Manabu Nishiura, Yusuke Omura, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba:
Self-Body Image Acquisition and Posture Generation With Redundancy Using Musculoskeletal Humanoid Shoulder Complex for Object Manipulation. IEEE Robotics Autom. Lett. 6(4): 6686-6692 (2021) - [c9]Moritaka Onitsuka, Manabu Nishiura, Kento Kawaharazuka, Kei Tsuzuki, Yasunori Toshimitsu, Yusuke Omura, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba:
Development of Musculoskeletal Legs with Planar Interskeletal Structures to Realize Human Comparable Moving Function. HUMANOIDS 2021: 17-24 - [c8]Yasunori Toshimitsu, Kento Kawaharazuka, Manabu Nishiura, Yuya Koga, Yusuke Omura, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba:
Biomimetic Operational Space Control for Musculoskeletal Humanoid Optimizing Across Muscle Activation and Joint Nullspace. ICRA 2021: 1184-1190 - [c7]Yasunori Toshimitsu, Ki Wan Wong, Thomas Buchner, Robert K. Katzschmann:
SoPrA: Fabrication & Dynamical Modeling of a Scalable Soft Continuum Robotic Arm with Integrated Proprioceptive Sensing. IROS 2021: 653-660 - [c6]Kento Kawaharazuka, Yasunori Toshimitsu, Manabu Nishiura, Yuya Koga, Yusuke Omura, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba:
Design Optimization of Musculoskeletal Humanoids with Maximization of Redundancy to Compensate for Muscle Rupture. IROS 2021: 3227-3233 - [c5]Nico Gürtler, Felix Widmaier, Cansu Sancaktar, Sebastian Blaes, Pavel Kolev, Stefan Bauer, Manuel Wüthrich, Markus Wulfmeier, Martin A. Riedmiller, Arthur Allshire, Qiang Wang, Robert McCarthy, Hangyeol Kim, Jongchan Baek, Wookyong Kwon, Shanliang Qian, Yasunori Toshimitsu, Mike Yan Michelis, Amirhossein Kazemipour, Arman Raayatsanati, Hehui Zheng, Barnabas Gavin Cangan, Bernhard Schölkopf, Georg Martius:
Real Robot Challenge 2022: Learning Dexterous Manipulation from Offline Data in the Real World. NeurIPS (Competition and Demos) 2021: 133-150 - [c4]Kento Kawaharazuka, Manabu Nishiura, Shinsuke Nakashima, Yasunori Toshimitsu, Yusuke Omura, Yuya Koga, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba:
Stability Recognition with Active Vibration for Bracing Behaviors and Motion Extensions Using Environment in Musculoskeletal Humanoids. RoboSoft 2021: 126-133 - [i2]Yasunori Toshimitsu, Ki Wan Wong, Thomas Buchner, Robert K. Katzschmann:
SoPrA: Fabrication & Dynamical Modeling of a Scalable Soft Continuum Robotic Arm with Integrated Proprioceptive Sensing. CoRR abs/2103.10726 (2021) - [i1]Amirhossein Kazemipour, Oliver Fischer, Yasunori Toshimitsu, Ki Wan Wong, Robert K. Katzschmann:
A Robust Adaptive Approach to Dynamic Control of Soft Continuum Manipulators. CoRR abs/2109.11388 (2021) - 2020
- [c3]Yasunori Toshimitsu, Kento Kawaharazuka, Kei Tsuzuki, Moritaka Onitsuka, Manabu Nishiura, Yuya Koga, Yusuke Omura, Motoki Tomita, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba:
Biomimetic Control Scheme for Musculoskeletal Humanoids Based on Motor Directional Tuning in the Brain. IROS 2020: 7784-7791
2010 – 2019
- 2019
- [c2]Kotaro Hayashi, Yasunori Toshimitsu:
Eyes on you: field study of robot vendor using human-like eye component "Akagachi". RO-MAN 2019: 1-6 - [c1]Robert K. Katzschmann, Cosimo Della Santina, Yasunori Toshimitsu, Antonio Bicchi, Daniela Rus:
Dynamic Motion Control of Multi-Segment Soft Robots Using Piecewise Constant Curvature Matched with an Augmented Rigid Body Model. RoboSoft 2019: 454-461
Coauthor Index
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