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This paper proposes a three-dimensional biped dynamic walking algorithm based on passive dynamic autonomous control (PDAC) which is previously proposed. The robot dynamics is modeled as an autonomous system of a three-dimensional inverted pendulum by applying the PDAC concept that is based on the assumption of point contact of the robot foot and the virtual constraint as to robot joints. Due to autonomy,...
This paper addresses sound source separation and speech recognition for moving sound sources. Real-world applications such as robots should cope with both moving and stationary sound sources. However, most studies assume only stationary sound sources. We introduce two key techniques to cope with moving sources, that is, Adaptive Step-size control (AS) and Optima Controlled Recursive Average (OCRA)...
This paper investigates the possibility of utilizing a switched reluctance (SR) motor made of permendur. Motor torque, iron loss, and efficiency of the SR motor are evaluated by finite element method (FEM). Furthermore, a suitable structure for the SR motor made of permendur is presented.
Cost effective Ku-band up-mixer and down-mixer MMIC's, that use a three-dimensional MMIC technology optimized for flip-chip implementation, are presented. The MMIC structure incorporates inverse TFMS lines so that a ground metal can be applied to cover the whole chip surface except for interconnect pads. Among multi polyimide and SiN layers, four wiring metal layers are composed. Hence, these MMIC...
We developed a tensional force sensor by applying artificial tetrafluoroethylene-perfluoroalkylvinyl ether copolymer (PFA) hollow fibers. The fibers were fabricated by depositing thin metal and an insulation layer on the PFA tube, and the fabric sensor was made by weaving the decorated PFA tube and the conventional cotton yarns together. The sensor was 57.0 times 4.0 mm. The sensor output linearly...
Human-robot interaction through music in real environments is essential for humanoids, because such a robot makes people enjoyable. We thus developed a beat-tracking robot which steps, sings, and scats according to musical beats predicted by using a robot-embedded microphone, as a first step to realize a robot which makes a music session with people. This paper first describes the beat-tracking robot,...
The configuration data transfer time of a dynamically reconfigurable processor often bottlenecks the hardware context switching time and degrades its computation performance. In order to reduce data transferring time from a central memory to hardware context memory modules in all processing elements (PEs) and switching elements (SEs), a multicasting mechanism called RoMultiC (row-muticast configuration)...
One of the benefits of coarse grained dynamically reconfigurable processor array(DRPA) is its low dynamic power consumption by operating a number of processing elements(PE) in parallel with low clock frequency. However, in the future advanced processes, leakage power will occupy a considerable part of the total power consumption, and it may degrade the advantage of DRPAs. In order to reduce the leakage...
Robot capability of listening to several things at once by its own ears, that is, robot audition, is important in improving human-robot interaction. The critical issue in robot audition is real-time processing in noisy environments with high flexibility to support various kinds of robots and hardware configurations. This paper presents open-source robot audition software, called ldquoHARKrdquo, which...
The applicative field of activities of robots who have only one locomotion strategy is limited. As means of enhancing the mobile range, it is necessary to have various locomotion modes. Therefore, we focus on dynamic transitions between several kinds of locomotion modes adapting to environmental changes. In this paper, we aim to realize stable locomotion along some unknown test courses consisting...
Exact analysis of 3-D optical waveguide step discontinuity is important for exact design of optical integrated circuit. In order to treat this problem systematically, equivalent network approach for lateral direction and waveguide direction is proposed and practically applied to strip-loaded 3-D optical waveguide step discontinuity with fruitful results.
This paper proposes a dynamic analysis method for a new spiral resonant actuator with two-degree-of-freedom employing the 3-D finite element method (FEM), and the dynamic characteristics of the actuator are quantitatively clarified using this method.
This paper presents a dynamic analysis method of a novel spherical resonant actuator using the three-dimensional finite element method (3-D FEM). In this method, the magnetic field equation is coupled with the electric circuit equation and the motion equation, and the mesh modification method using the Laplace equation is applied to the rotation of a spherical actuator.
In multi-context dynamically reconfigurable processor array (DRPA), the required number of contexts is often increased by those with low resource usage. In order to execute such contexts without wasting a context memory, we propose a new execution mode called instruction buffer mode in addition to the normal multi-context mode. In this mode, a configuration code from the central configuration memory...
This paper introduces a vertical ladder climbing of the humanoid robot only by the posture control without any external sensors. The humanoid robot does not have any special structure for fixing the body to the ladder. The robot maintains the body on the ladder by its grippers like human does. As a problem of this locomotion, a free gripper position of the climbing robot is not controllable because...
This paper introduces a new wearable handling support system for a person who has trouble in motor capability of his or her upper limb. The support system is used as not only a support system to make his upper limb active in daily life but also a rehabilitation system to reduce manual loads of physical therapists. The system measures three rotation angles of patientpsilas head: pitch, roll and yaw...
An animal has a characteristic ratio of forefoot and rear legs so that its morphology can adapt to the living environment. Likewise, the structure of robot should be better fitted the locomotion in the working environment. This paper derives an optimal structure of the quadruped robot, which minimizes the sum of joint torques of the robot. Minimization of the joint torque allows to reduce the joint...
This paper describes a novel sound source separation method for a robot that needs to cope with dynamically changing noises in the real world. The sound source separation method, Geometric Source Separation (GSS), is promising because it has high separation performance and requires low computational cost. One of the most important factors in GSS performance is a step-size parameter to update a separation...
Musical beat tracking is one of the effective technologies for human-robot interaction such as musical sessions. Since such interaction should be performed in various environments in a natural way, musical beat tracking for a robot should cope with noise sources such as environmental noise, its own motor noises, and self voices, by using its own microphone. This paper addresses a musical beat tracking...
The power consumption of dynamically reconfigurable processing array (DRPA) is quantitatively analyzed by using a real chip layout and applications taking into account the reconfiguration power. Evaluation result shows that processing power for PEs is dominant and reconfiguration power is about 20.7% of the total dynamic power consumption. Based on the above evaluation results, we proposed two dynamic...
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