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This study attempts to make a compact humanoid robot acquire a giant-swing motion without any robotic models by using reinforcement learning; only the interaction with environment is available. Generally, it is widely said that this type of learning method is not appropriated to obtain dynamic motions because Markov property is not necessarily guaranteed during the dynamic task. However, in this study,...
This paper describes the effect of Muller-Lyer illusion on a reaching movement just after the visual and haptic/kinesthetic cues are simultaneously presented. First, a standard experiment on this visual illusion is conducted by means of the most typical way so as to make sure that participants can experience this illusion; the result shows that all the subjects are deceived by the illusion figure...
Motion control algorithms were proposed for a 9-DOF finger-arm robot by using the finger manipulability obtained in a previous study. However, in the previous study, only methods for achieving unconstrained movement of the finger-arm robot were discussed. In this paper, the authors propose a novel method for having a finger-arm robot complete a constrained task by integrating impedance control with...
Human beings usually locate their hand at the position with a higher moving potential in order to easily deal with various situations. Inspired by the human hand-arm movement, this study proposes a motion control issue for a serial-linkage finger-arm robot according to Wf.
The main purpose of this study is to apply the mechanism of human weight perception to multimedia applications. When a start and the goal points are given in the human motion, the velocity profile has a unimodal profile including the acceleration and deceleration zones. In such case, it is widely said that the motion control becomes more accurate in the deceleration zone for the final approach. Hence,...
This paper deals with consideration of particle motion control and its trapping in the deactivation of foreign contaminating moving particle in simulated GIS. The particle motion behavior in nonuniform field gap without/with different shaped spacers was investigated experimentally under DC and 60 Hz AC voltages. The obtained results were confirmed experimentally as well as by calculating the electrostatic...
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