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Today's tape storage systems are widely used as a low-cost solution for data backup and archiving for the rapidly growing amount of digital information produced in various fields. Following the Information Storage Industry Consortium (INSIC) Roadmap [1], tape cartridge capacity continues to scale by doubling the capacity every two years. Developments in read channel technology are expected to play...
Biological creatures, some of them are very simple, seem to perform efficient search strategy. Recent researches show that noise in their internal mechanism may have an important role to manage this behavior. This paper focuses on realizing a simple, noise utilizing, mathematical framework that enables a mobile robot to perform random search adaptively and efficiently under changing target density...
An analysis of low frequency properties (f below 10 Hz) in a single-junction thermal converter (SJTC) have been performed by finite element method (FEM). Thermal radiation and Thomson effect is taken into considerations in this calculation. The result of the calculation is in agreement with that of the measurement.
Humanoid robots should be able to stand and walk despite reasonable external disturbances. This paper addresses the robustness of a humanoid robot to unknown disturbances. Although there are control methods to absorb the disturbances based on the COG-ZMP inverted pendulum model, they do not consider the physical constraint on ZMP. In this paper, the authors enable the control law to consider the physical...
This paper describes an novel approach towards linguistic processing for robots through integration of a motion language module and a natural language module. The motion language module represents association between symbolized motion patterns and words. The natural language module models sentences. The motion language module and the natural language module are graphically integrated. The integration...
Many biologically inspired approaches have been investigated in relation with researches on mobile robot(s) that can effectively locate targets that induce gradient information. Here, we concentrate on realizing an adaptive searching behavior in mobile robot that is simple, yet effective with and without sensing the gradient information. We are interested in two searching behaviors found in biological...
This paper describes the linguistic model based on symbolization of motion patterns for humanoid robots. The model consists of two kinds of stochastic models : the motion language model and the natural language model. The motion language model stochastically connects the symbols of motion patterns to the morpheme words through the latent states which represent the underlying linguistic structure such...
This paper presents a dynamics simulator that can handle complex robotic systems including position-controlled joints and closed kinematic chains. We first extend our prevous algorithm for linear-time forward dynamics algorithm to handle closed kinematic chains. The extended algorithm is formally presented for the first time. We then present another extension that allows position-controlled joints,...
In this paper, the authors propose a novel toe joint mechanism using a parallel four-bar linkage. This mechanism enables a humanoid robot to contact with the floor at points of a multilink, namely the toe pad and toe tips, similar to human motion. Using this toe mechanism, a major part of the reaction force acts on the non-movable portion of a link rather than on the toe tip. Because of this, it is...
In this paper, we build a mathematical model of the whole-body neuromuscular network and identify its parameters by optical motion capture, inverse dynamics computation, and statistical analysis. The model includes a skeleton, a musculotendon network, and a neuromuscular network. The skeleton is composed of 155 joints representing the inertial property and mobility of the human body. The musculotendon...
Recent biological studies reveals that animals utilize (or exploit) biological fluctuation to achieve flexibility and robustness against environmental disturbances. In this paper, we propose a simple but flexible control mechanism inspired by biological adaptation mechanism. Experimental results show that our proposed method can be applied to the control of a robot without prior knowledge about the...
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