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This paper proposes micro muT-Kernel, a real-time operating system for networked tiny devices, which adopts a preemptive priority-based scheduling. It provides a sophisticated application programming interface to facilitate software development. In addition, to provide rich functionalities with a small-footprint, the kernel is reconfigurable with respect to the API. Moreover, muT-Kernel supports a...
We aimed to develop the aquatic propulsion mechanisms of Paramecium like and fish like robots that consist of real-time variable stiffness fins. For the aquatic propulsion mechanisms of the Paramecium like robot, we have used fins with ICPF (Ionic Conducting Polymer gel Film) actuator to change its stiffness for representing ciliary movement. For the aquatic propulsion mechanisms of the fish like...
We present a model-based RL approach to cope with continuous space of high D.O.F. robots, combining model learning and an actor-critic method. The model learner generates a discrete state-transition model that helps improvement of both the policy and state-representation. In general, model-based methods tends to fail in non-Markovian problems, but the proposed method, using actor-critic, can find...
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