arXiv subjects

Shun Hasegawa

Publications and source records attributed to Shun Hasegawa.

9 recordsLinked to original sources

arXiv2026

Hyperbolic color codes with constant rate and polynomial distance

Recent advances in quantum hardware relax the strict geometric-locality constraints traditionally imposed on quantum error-correcting codes, motivating interest in high-rate quantum low-density parity-check (qLDPC) codes. At the same time, color codes provide a particularly rich setting for fault-tolerant quantum computation, underlying protocols such as single-shot error correction and self-correcting quantum computation. Hyperbolic color codes provide a class of high-rate qLDPC codes that also retain the structural features of color codes relevant to fault-tolerant quantum computation. However, previous constructions of hyperbolic color codes have achieved at most logarithmic code distance. In this work, we construct hyperbolic color codes with both constant rate and polynomial distance by building on arithmetic hyperbolic manifolds that support polynomial-distance hyperbolic toric codes. Our construction applies in arbitrary dimension \(D\geq 4\). In even dimensions, the resulting type-\(D/2\) color codes have constant encoding rate and polynomial distance, while in other cases the number of logical qubits and the code distance both exhibit polynomial scaling. We further derive explicit exponents for polynomial lower bounds as functions of the dimension and code type. These results establish a family of hyperbolic color codes simultaneously achieving constant rate and polynomial distance and providing a testbed to explore fault-tolerant quantum computation protocols that combine high-rate quantum codes with the structural advantages of color codes.

quant-ph↗

arXiv2026

Design of a Biomimetic Joint-Covering Skin with Tissue-Like Structure to Enhance Proprioception in a Musculoskeletal Humanoid

Proprioception in musculoskeletal humanoids is typically estimated primarily from muscle sensing, while the role of cutaneous deformation around joints remains insufficiently explored. In biological systems, mechanoreceptors distributed within soft tissue complement muscle feedback and support reliable joint state estimation. This study presents the design of a biomimetic joint-covering skin with a tissue-like layered structure that integrates pressure- and stretch-sensitive elements within the joint-covering tissue. The proposed skin is implemented on the musculoskeletal humanoid Musashi-W, and its independent proprioceptive capability as well as its integration with muscle sensing are evaluated. Experimental results show that the proposed skin alone achieves joint angle estimation with an average error of approximately 3 degrees. Furthermore, integration with muscle sensing improves estimation accuracy. Owing to its joint-covering structure, the skin may mechanically mitigate the influence of external disturbances on the muscles, and the integration of multiple modalities suggests the possibility of contributing to the identification of external stimuli that are difficult to interpret using muscle sensing alone. This work presents a design methodology for biomimetic joint-covering skin and demonstrates that such tissue-structured skin can serve as an effective approach for extending proprioceptive systems in musculoskeletal humanoids.

cs.RO↗

arXiv2026

Exploring the proprioceptive potential of joint receptors using a biomimetic robotic joint

In neuroscience, joint receptors have traditionally been viewed as limit detectors, providing positional information only at extreme joint angles, while muscle spindles are considered the primary sensors of joint angle position. However, joint receptors are widely distributed throughout the joint capsule, and their full role in proprioception remains unclear. In this study, we specifically focused on mimicking Type I joint receptors, which respond to slow and sustained movements, and quantified their proprioceptive potential using a biomimetic joint developed with robotics technology. Results showed that Type I-like joint receptors alone enabled proprioceptive sensing with an average error of less than 2 degrees in both bending and twisting motions. These findings suggest that joint receptors may play a greater role in proprioception than previously recognized and that the relative contributions of muscle spindles and joint receptors are differentially weighted within neural networks during development and evolution. Furthermore, this work may prompt new discussions on the differential proprioceptive deficits observed between the elbows and knees in patients with hereditary sensory and autonomic neuropathy type III. Together, these findings highlight the potential of biomimetics-based robotic approaches for advancing interdisciplinary research bridging neuroscience, medicine, and robotics.

cs.RO↗

arXiv2025

Front Hair Styling Robot System Using Path Planning for Root-Centric Strand Adjustment

Hair styling is a crucial aspect of personal grooming, significantly influenced by the appearance of front hair. While brushing is commonly used both to detangle hair and for styling purposes, existing research primarily focuses on robotic systems for detangling hair, with limited exploration into robotic hair styling. This research presents a novel robotic system designed to automatically adjust front hairstyles, with an emphasis on path planning for root-centric strand adjustment. The system utilizes images to compare the current hair state with the desired target state through an orientation map of hair strands. By concentrating on the differences in hair orientation and specifically targeting adjustments at the root of each strand, the system performs detailed styling tasks. The path planning approach ensures effective alignment of the hairstyle with the target, and a closed-loop mechanism refines these adjustments to accurately evolve the hairstyle towards the desired outcome. Experimental results demonstrate that the proposed system achieves a high degree of similarity and consistency in front hair styling, showing promising results for automated, precise hairstyle adjustments.

cs.RO↗

arXiv2024

Design of a Five-Fingered Hand with Full-Fingered Tactile Sensors Using Conductive Filaments and Its Application to Bending after Insertion Motion

The purpose of this study is to construct a contact point estimation system for the both side of a finger, and to realize a motion of bending the finger after inserting the finger into a tool (hereinafter referred to as the bending after insertion motion). In order to know the contact points of the full finger including the joints, we propose to fabricate a nerve inclusion flexible epidermis by combining a flexible epidermis and a nerve line made of conductive filaments, and estimate the contact position from the change of resistance of the nerve line. A nerve inclusion flexible epidermis attached to a thin fingered robotic hand was combined with a twin-armed robot and tool use experiments were conducted. The contact information can be used for tool use, confirming the effectiveness of the proposed method.

cs.RO↗

arXiv2024

Integrative Wrapping System for a Dual-Arm Humanoid Robot

Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using sim-to-real and learning, there have been few proposals for humanoid robots and systems that enable continuous, multi-step actions of flexible materials. Wrapping an object with paper and tape is more complex and diverse than traditional manipulation research due to the increased number of objects that need to be handled, as well as the three-dimensionality of the operation. In this research, necessary information is organized and coded based on the characteristics of each object handled in wrapping. We also generalize the hardware configuration, manipulation method, and recognition system that enable humanoid wrapping operations. The system will include manipulation with admittance control focusing on paper tension and state evaluation using point clouds to handle three-dimensional flexible objects. Finally, wrapping objects with different shapes is experimented with to show the generality and effectiveness of the proposed system.

cs.RO↗

arXiv2024

Designing Fluid-Exuding Cartilage for Biomimetic Robots Mimicking Human Joint Lubrication Function

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.

cs.RO↗

arXiv2021

Determination of the Dzyaloshinskii-Moriya interaction using pattern recognition and machine learning

Machine learning is applied to a large number of modern devices that are essential in building energy efficient smart society. Audio and face recognition are among the most well-known technologies that make use of such artificial intelligence. In materials research, machine learning is adapted to predict materials with certain functionalities, an approach often referred to as materials informatics. Here we show that machine learning can be used to extract material parameters from a single image obtained in experiments. The Dzyaloshinskii-Moriya (DM) interaction and the magnetic anisotropy distribution of thin film heterostructures, parameters that are critical in developing next generation storage class magnetic memory technologies, are estimated from a magnetic domain image. Micromagnetic simulation is used to generate thousands of random images for training and model validation. A convolutional neural network system is employed as the learning tool. The DM exchange constant of typical Co-based thin film heterostructures is studied using the trained system: the estimated values are in good agreement with experiments. Moreover, we show that the system can independently determine the magnetic anisotropy distribution, demonstrating the potential of pattern recognition. This approach can considerably simplify experimental processes and broaden the scope of materials research.

cond-mat.mes-hall↗

arXiv2016

Optimal Online Algorithms for the Multi-Objective Time Series Search Problem

Tiedemann, et al. [Proc. of WALCOM, LNCS 8973, 2015, pp.210-221] defined multi-objective online problems (as an online version of multi-objective optimization problems) and the competitive analysis for multi-objective online problems and showed that (1) with respect to the worst component competitive analysis, the online algorithm RPP-HIGH is best possible for the multi-objective time series search~problem; (2) with respect to the arithmetic mean component competitive analysis, the online algorithm RPP-MULT is best possible for the bi-objective time series search problem; (3) with respect to the geometric mean component competitive analysis, the online algorithm RPP-MULT is best possible for the bi-objective time series search problem. In this paper, we first point out that the definitions and frameworks of the competitive analysis due to Tiedemann, et al. do not necessarily capture the efficiency of online algorithms for multi-objective online problems and provide modified definitions of the competitive analysis for multi-objective online problems. Then under the modified framework, we present a simple online algorithm Balanced Price Policy BPP_{k} for the multi-objective (k-objective) time series search problem, and show that the algorithm BPP_{k} is best possible with respect to any measure of the competitive analysis (defined by a monotone continuous function f). Under the modified framework, we derive exact values of the competitive ratio for the multi-objective time series search problem with respect to the worst component competitive analysis, the arithmetic mean component competitive analysis, and the geometric mean component competitive analysis.

cs.DS↗