Hirofumi Shin

Honda Motor Co., Ltd

This paper presents a probabilistic Model-based Reinforcement Learning (MBRL) approach for learning the Energy-exchange Dynamics (EED) of a spring-loaded biped robot. Our approach enables on-site walking acquisition with high sample efficiency, real-time planning capability, and generalizability across skill conditions. Specifically, we learn the d...

In this paper, we present a data acquisition method to realize a distributed tactile sensor system that can provide wide-range, and high-sensitivity with a small data size for communication. Since the data size is proportional to the number of acquired data and the resolution of the data, we propose systems to increase the resolution of the sensor...

A small (~10 cm) male pufferfish (Torquigener albomaculosus) builds a large (~2 m) sandy nest structure, resembling a mysterious crop circle, to attract females. The circle consists of radially arranged deep ditches in the outer ring region, and maze-like shallow ditches in the central region. The configuration is geometrical. Here, we examined the...

Several factors affect the performance of humanoid walking. One factor is the complex nature of lower limbs, especially the muscles around the pelvis that contribute significantly to the stability and adaptivity of humanoid locomotion. The significance of this muscle group assures a impact on the facility of walking robots once the nature of its co...

The upper body and the lower body of previous humanoid robots has been functionally separated. On the other hand, in human, there are connected by the three-dimensional structure of psoas major. And the upper body moves when the lower body moves. It assumed that the interlocking function of psoas major contribute stabilization of whole body movemen...

A better understanding of how actuator design supports locomotor function may help develop novel and more functional powered assistive devices or robotic legged systems. Legged robots comprise passive parts (e.g., segments, joints and connections) which are moved in a coordinated manner by actuators. In this study, we propose a novel concept of a h...

Male pufferfish (Torquigener albomaculosus) construct “mystery circles”, geometric circular structures with radially aligned peaks and valleys, on sandy seabeds for reproduction. We discovered an earliest-stage mystery circle composed of dozens of irregular depressions. The structure changed to a primitive circular form with radially aligned valley...

Spinal reflexes greatly contribute to the control of fast physical interactions (e.g., catching a moving ball) without the influence of higher level control systems involved in human motor control. Therefore, to realize the interactions in robots, it is a useful approach to mimic the nervous system controlling spinal reflexes. To this end, as the s...

This paper indicates the development of control system for musculoskeletal robots driven by pneumatic artificial muscles. This system mimics the nervous system. The nervous system, especially spinal reflexes greatly contribute to the control of fast physical interactions without the influence of higher level control systems such as brain. Therefore...

Vertical ground reaction force(vGRF) has been widely known as a qualitative features of human walking. While a human walks, the vGRF exhibits a double peak profile in which two maximal values appear from the heel contact to the toe off. So far, various studies have been mainly conducted in the field of biomechanics to elucidate the mechanism by whi...